Publications (20)
An Introduction to Disk Margins
Peter Seiler, Andrew Packard, Pascal Gahinet
This paper provides a tutorial introduction to disk margins. These are robust stability measures that account for simultaneous gain and phase perturbations in a feedback system. Th…
Diagnostics of Data-Driven Models: Uncertainty Quantification of PM7 Semi-Empirical Quantum Chemical Method
James Oreluk, Zhenyuan Liu, Arun Hegde +4
We report an evaluation of a semi-empirical quantum chemical method PM7 from the perspective of uncertainty quantification. Specifically, we apply Bound-to-Bound Data Collaboration…
Representing Model Discrepancy in Bound-to-Bound Data Collaboration
Wenyu Li, Arun Hegde, James Oreluk +2
We extended the existing methodology in Bound-to-Bound Data Collaboration (B2BDC), an optimization-based deterministic uncertainty quantification (UQ) framework, to explicitly take…
Finite Horizon Backward Reachability Analysis and Control Synthesis for Uncertain Nonlinear Systems
He Yin, Andrew Packard, Murat Arcak +1
We present a method for synthesizing controllers to steer trajectories from an initial set to a target set on a finite time horizon. The proposed control synthesis problem is decom…
A General Analysis of the Convergence of ADMM
Robert Nishihara, Laurent Lessard, Benjamin Recht +2
We provide a new proof of the linear convergence of the alternating direction method of multipliers (ADMM) when one of the objective terms is strongly convex. Our proof is based on…
Analysis and Design of Optimization Algorithms via Integral Quadratic Constraints
Laurent Lessard, Benjamin Recht, Andrew Packard
This manuscript develops a new framework to analyze and design iterative optimization algorithms built on the notion of Integral Quadratic Constraints (IQC) from robust control the…
Non-Asymptotic Analysis of Robust Control from Coarse-Grained Identification
Stephen Tu, Ross Boczar, Andrew Packard +1
This work explores the trade-off between the number of samples required to accurately build models of dynamical systems and the degradation of performance in various control object…
Backward Reachability for Polynomial Systems on A Finite Horizon
He Yin, Murat Arcak, Andrew Packard +1
A method is presented to obtain an inner-approximation of the backward reachable set (BRS) of a given target tube, along with an admissible controller that maintains trajectories i…
Scale-Bridging Model Development for Coal Particle Devolatilization
Benjamin B Schroeder, Sean T Smith, Philip J Smith +6
When performing large-scale, high-performance computations of multi-physics applications, it is common to limit the complexity of physics sub-models comprising the simulation. For…
Optimal assignment of collaborating agents in multi-body asset-guarding games
Emmanuel Sin, Murat Arcak, Andrew Packard +2
We study a multi-body asset-guarding game in missile defense where teams of interceptor missiles collaborate to defend a non-manuevering asset against a group of threat missiles. W…
Optimization Based Planner Tracker Design for Safety Guarantees
He Yin, Monimoy Bujarbaruah, Murat Arcak +1
We present a safe-by-design approach to path planning and control for nonlinear systems. The planner uses a low fidelity model of the plant to compute reference trajectories by sol…
Finite Horizon Robustness Analysis of LTV Systems Using Integral Quadratic Constraints
Peter Seiler, Robert Moore, Chris Meissen +2
The goal of this paper is to assess the robustness of an uncertain linear time-varying (LTV) system on a finite time horizon. The uncertain system is modeled as a connection of a k…
Reachability Analysis for Robustness Evaluation of the Sit-To-Stand Movement for Powered Lower Limb Orthoses
Octavio Narvaez-Aroche, Pierre-Jean Meyer, Murat Arcak +1
A sensitivity-based approach for computing over-approximations of reachable sets, in the presence of constant parameter uncertainties and a single initial state, is used to analyze…
Exponential Stability Analysis via Integral Quadratic Constraints
Ross Boczar, Laurent Lessard, Andrew Packard +1
The theory of integral quadratic constraints (IQCs) allows verification of stability and gain-bound properties of systems containing nonlinear or uncertain elements. Gain bounds of…
Compositional Performance Certification of Interconnected Systems using ADMM
Chris Meissen, Laurent Lessard, Murat Arcak +1
A compositional performance certification method is presented for interconnected systems using subsystem dissipativity properties and the interconnection structure. A large-scale o…
Consistency Analysis for Massively Inconsistent Datasets in Bound-to-Bound Data Collaboration
Arun Hegde, Wenyu Li, James Oreluk +2
Bound-to-Bound Data Collaboration (B2BDC) provides a natural framework for addressing both forward and inverse uncertainty quantification problems. In this approach, QOI (quantity…
Robust Control of the Sit-to-Stand Movement for a Powered Lower Limb Orthosis
Octavio Narvaez-Aroche, Pierre-Jean Meyer, Stephen Tu +2
The sit-to-stand movement is a key feature for wide adoption of powered lower limb orthoses for patients with complete paraplegia. In this paper we study the control of the ascendi…
Reachability Analysis Using Dissipation Inequalities For Uncertain Nonlinear Systems
He Yin, Andrew Packard, Murat Arcak +1
We propose a method to outer bound forward reachable sets on finite horizons for uncertain nonlinear systems with polynomial dynamics. This method makes use of time-dependent polyn…
Finite Time Robust Control of the Sit-to-Stand Movement for Powered Lower Limb Orthoses
Octavio Narvaez-Aroche, Andrew Packard, Murat Arcak
This study presents a technique to safely control the Sit-to-Stand movement of powered lower limb orthoses in the presence of parameter uncertainty. The weight matrices used to cal…
Small Satellite Constellation Separation using Linear Programming based Differential Drag Commands
Emmanuel Sin, Murat Arcak, Andrew Packard
We study the optimal control of an arbitrarily large constellation of small satellites operating in low Earth orbit. Simulating the lack of on-board propulsion, we limit our actuat…