82 citations · 486 across the 90 of their papers we have counts for
50 papers · 1 filter
Time Shift Governor-Guided MPC with Collision Cone CBFs for Safe Adaptive Cruise Control in Dynamic Environments
Robin Inho Kee, Taehyeun Kim, Anouck Girard +1
This paper introduces a Time Shift Governor (TSG)-guided Model Predictive Controller with Control Barrier Functions (CBFs)-based constraints for adaptive cruise control (ACC). This…
Control Invariant Sets for Neural Network Dynamical Systems and Recursive Feasibility in Model Predictive Control
Xiao Li, Tianhao Wei, Changliu Liu +2
Neural networks are powerful tools for data-driven modeling of complex dynamical systems, enhancing predictive capability for control applications. However, their inherent nonlinea…
Constrained Control for Autonomous Spacecraft Rendezvous: Learning-Based Time Shift Governor
Taehyeun Kim, Robin Inho Kee, Ilya Kolmanovsky +1
This paper develops a Time Shift Governor (TSG)-based control scheme to enforce constraints during rendezvous and docking (RD) missions in the setting of the Two-Body problem. As a…
CIKAN: Constraint Informed Kolmogorov-Arnold Networks for Autonomous Spacecraft Rendezvous using Time Shift Governor
Taehyeun Kim, Anouck Girard, Ilya Kolmanovsky
The paper considers a Constrained-Informed Neural Network (CINN) approximation for the Time Shift Governor (TSG), which is an add-on scheme to the nominal closed-loop system used t…
Newton Methods in Generalized Nash Equilibrium Problems with Applications to Game-Theoretic Model Predictive Control
Mushuang Liu, Ilya Kolmanovsky
We prove input-to-state stability (ISS) of perturbed Newton-type methods for generalized equations arising from Nash equilibrium (NE) and generalized NE (GNE) problems. This ISS pr…
Time Shift Governor for Constrained Control of Spacecraft Orbit and Attitude Relative Motion in Bicircular Restricted Four-Body Problem
Taehyeun Kim, Ilya Kolmanovsky, Anouck Girard
This paper considers constrained spacecraft rendezvous and docking (RVD) in the setting of the Bicircular Restricted Four-Body Problem (BCR4BP), while accounting for attitude dynam…
Nonlinear Model Predictive Detumbling of Small Satellites with a Single-axis Magnetorquer
Kota Kondo, Ilya Kolmanovsky, Yasuhiro Yoshimura +3
Various actuators are used in spacecraft to achieve attitude stabilization, including thrusters, momentum wheels, and control moment gyros. Small satellites, however, have stringen…
Less Conservative Robust Reference Governors and Their Applications
Miguel Castroviejo-Fernandez, Huayi Li, Andrés Cotorruelo +2
The applications of reference governors to systems with unmeasured set-bounded disturbances can lead to conservative solutions. This conservatism can be reduced by estimating the d…
Minimum-Time Trajectory Optimization With Data-Based Models: A Linear Programming Approach
Nan Li, Ehsan Taheri, Ilya Kolmanovsky +1
In this paper, we develop a computationally-efficient approach to minimum-time trajectory optimization using input-output data-based models, to produce an end-to-end data-to-contro…
A Comparison between Markov Chain and Koopman Operator Based Data-Driven Modeling of Dynamical Systems
Saeid Tafazzol, Nan Li, Ilya Kolmanovsky +1
Markov chain-based modeling and Koopman operator-based modeling are two popular frameworks for data-driven modeling of dynamical systems. They share notable similarities from a com…
Constrained reaction wheel desaturation and attitude control of spacecraft with four reaction wheels
Miguel Castroviejo-Fernandez, Ilya Kolmanovsky
The paper addresses a problem of constrained spacecraft attitude stabilization with simultaneous reaction wheel (RW) desaturation. The spacecraft has a reaction wheel array (RWA) c…
A Unified Safety Protection and Extension Governor
Nan Li, Yutong Li, Ilya Kolmanovsky
In this paper, we propose a supervisory control scheme that unifies the abilities of safety protection and safety extension. It produces a control that is able to keep the system s…
Scheduling Dosage of Proton Pump Inhibitors Using Constrained Optimization With Gastric Acid Secretion Model
Yutong Li, Nan Li, Anouck Girard +1
Dosage schedule of the Proton Pump Inhibitors (PPIs) is critical for gastric acid disorder treatment. In this paper, we develop a constrained optimization based approach for schedu…
On Complexity Bounds for the Maximal Admissible Set of Linear Time-Invariant Systems
Hamid R. Ossareh, Ilya Kolmanovsky
Given a dynamical system with constrained outputs, the maximal admissible set (MAS) is defined as the set of all initial conditions such that the output constraints are satisfied f…
Safe Control and Learning Using Generalized Action Governor
Peiyuan Fang, Weiqi Zhang, Lu Xiong +7
This paper introduces the Generalized Action Governor (AG), a supervisory scheme that augments a nominal closed-loop system with the capability to enforce state and input constrain…
Reference Governor for Input-Constrained MPC to Enforce State Constraints at Lower Computational Cost
Miguel Castroviejo Fernandez, Jordan Leung, Ilya Kolmanovsky
In this paper, a control scheme is developed based on an input constrained Model Predictive Controller (MPC) and the idea of modifying the reference command to enforce constraints,…
Safe and Human-Like Autonomous Driving: A Predictor-Corrector Potential Game Approach
Mushuang Liu, H. Eric Tseng, Dimitar Filev +2
This paper proposes a novel decision-making framework for autonomous vehicles (AVs), called predictor-corrector potential game (PCPG), composed of a Predictor and a Corrector. To e…
Robust Action Governor for Uncertain Piecewise Affine Systems with Non-convex Constraints and Safe Reinforcement Learning
Yutong Li, Nan Li, H. Eric Tseng +3
The action governor is an add-on scheme to a nominal control loop that monitors and adjusts the control actions to enforce safety specifications expressed as pointwise-in-time stat…
Potential Game-Based Decision-Making for Autonomous Driving
Mushuang Liu, Ilya Kolmanovsky, H. Eric Tseng +3
Decision-making for autonomous driving is challenging, considering the complex interactions among multiple traffic agents (e.g., autonomous vehicles (AVs), human drivers, and pedes…
Interaction-Aware Trajectory Prediction and Planning for Autonomous Vehicles in Forced Merge Scenarios
Kaiwen Liu, Nan Li, H. Eric Tseng +2
Merging is, in general, a challenging task for both human drivers and autonomous vehicles, especially in dense traffic, because the merging vehicle typically needs to interact with…
A Reference Governor for linear systems with polynomial constraints
Laurent Burlion, Rick Schieni, Ilya Kolmanovsky
The paper considers the application of reference governors to linear discrete-time systems with constraints given by polynomial inequalities. We propose a novel algorithm to comput…
Development, Implementation, and Experimental Outdoor Evaluation of Quadcopter Controllers for Computationally Limited Embedded Systems
Juan Paredes, Prashin Sharma, Brian Ha +4
Quadcopters are increasingly used for applications ranging from hobby to industrial products and services. This paper serves as a tutorial on the design, simulation, implementation…
Coordinated Receding-Horizon Control of Battery Electric Vehicle Speed and Gearshift Using Relaxed Mixed Integer Nonlinear Programming
Nan Li, Kyoungseok Han, Ilya Kolmanovsky +1
In this paper, we propose an approach to coordinated receding-horizon control of vehicle speed and transmission gearshift for automated battery electric vehicles (BEVs) to achieve…
Data-Driven Retrospective Cost Adaptive Control for Flight Control Application
Syed Aseem Ul Islam, Tam W. Nguyen, Ilya V. Kolmanovsky +1
Unlike fixed-gain robust control, which trades off performance with modeling uncertainty, direct adaptive control uses partial modeling information for online tuning. The present p…