Robust adaptive control barrier functions: An adaptive and data-driven approach to safety
A new framework is developed for control of constrained nonlinear systems with structured
parametric uncertainty. Forward invariance of a safe set is achieved through online …
parametric uncertainty. Forward invariance of a safe set is achieved through online …
Robust online motion planning via contraction theory and convex optimization
We present a framework for online generation of robust motion plans for robotic systems with
nonlinear dynamics subject to bounded disturbances, control constraints, and online state …
nonlinear dynamics subject to bounded disturbances, control constraints, and online state …
Learning certified control using contraction metric
In this paper, we solve the problem of finding a certified control policy that drives a robot from
any given initial state and under any bounded disturbance to the desired reference …
any given initial state and under any bounded disturbance to the desired reference …
Control contraction metrics: Convex and intrinsic criteria for nonlinear feedback design
IR Manchester, JJE Slotine - IEEE Transactions on Automatic …, 2017 - ieeexplore.ieee.org
We introduce the concept of a control contraction metric, extending contraction analysis to
constructive nonlinear control design. We derive sufficient conditions for exponential …
constructive nonlinear control design. We derive sufficient conditions for exponential …
[HTML][HTML] Robust adaptive MPC using control contraction metrics
We present a robust adaptive model predictive control (MPC) framework for nonlinear
continuous-time systems with bounded parametric uncertainty and additive disturbance. We …
continuous-time systems with bounded parametric uncertainty and additive disturbance. We …
Tube-certified trajectory tracking for nonlinear systems with robust control contraction metrics
This letter presents an approach to guaranteed trajectory tracking for nonlinear control-affine
systems subject to external disturbances based on robust control contraction metrics (CCM) …
systems subject to external disturbances based on robust control contraction metrics (CCM) …
Tube-based model predictive control using multidimensional Taylor network for nonlinear time-delay systems
HS Yan, ZY Duan - IEEE Transactions on Automatic Control, 2020 - ieeexplore.ieee.org
For nonlinear time-delay systems with uncertainties, the existing approaches to robust
model predictive control (MPC) are based on the min-max optimization formulation …
model predictive control (MPC) are based on the min-max optimization formulation …
Energy efficiency improvement of intelligent fuel cell/battery hybrid vehicles through an integrated management strategy
Y Ma, F Hu, Y Hu - Energy, 2023 - Elsevier
This paper investigates an integrated energy management strategy (IMS) to improve energy
efficiency of proton exchange membrane fuel cell (FC) system in intelligent fuel cell/battery …
efficiency of proton exchange membrane fuel cell (FC) system in intelligent fuel cell/battery …
Robust feedback motion planning via contraction theory
We present a framework for online generation of robust motion plans for robotic systems with
nonlinear dynamics subject to bounded disturbances, control constraints, and online state …
nonlinear dynamics subject to bounded disturbances, control constraints, and online state …
Adaptive nonlinear control with contraction metrics
BT Lopez, JJE Slotine - IEEE Control Systems Letters, 2020 - ieeexplore.ieee.org
This letter derives direct adaptive control algorithms for nonlinear systems nominally
contracting in closed-loop, but subject to structured parametric uncertainty. The approach is …
contracting in closed-loop, but subject to structured parametric uncertainty. The approach is …