14 citations · 69 across the 16 of their papers we have counts for
15 papers · 1 filter
Synthesis of Stabilizing Recurrent Equilibrium Network Controllers
Neelay Junnarkar, He Yin, Fangda Gu +2
We propose a parameterization of a nonlinear dynamic controller based on the recurrent equilibrium network, a generalization of the recurrent neural network. We derive constraints…
Learning Neural Networks under Input-Output Specifications
Zain ul Abdeen, He Yin, Vassilis Kekatos +1
In this paper, we examine an important problem of learning neural networks that certifiably meet certain specifications on input-output behaviors. Our strategy is to find an inner…
Safe-by-Design Planner-Tracker Synthesis
Katherine S. Schweidel, He Yin, Stanley W. Smith +1
We present a safe-by-design trajectory planning and tracking framework for nonlinear dynamical systems using a hierarchy of system models. The planning layer uses a low-fidelity mo…
Recurrent Neural Network Controllers Synthesis with Stability Guarantees for Partially Observed Systems
Fangda Gu, He Yin, Laurent El Ghaoui +3
Neural network controllers have become popular in control tasks thanks to their flexibility and expressivity. Stability is a crucial property for safety-critical dynamical systems,…
Imitation Learning with Stability and Safety Guarantees
He Yin, Peter Seiler, Ming Jin +1
A method is presented to learn neural network (NN) controllers with stability and safety guarantees through imitation learning (IL). Convex stability and safety conditions are deri…
Co-design of Control and Planning for Multi-rotor UAVs with Signal Temporal Logic Specifications
Yash Vardhan Pant, He Yin, Murat Arcak +1
Urban Air Mobility (UAM), or the scenario where multiple manned and Unmanned Aerial Vehicles (UAVs) carry out various tasks over urban airspaces, is a transportation concept of the…
Stability Analysis using Quadratic Constraints for Systems with Neural Network Controllers
He Yin, Peter Seiler, Murat Arcak
A method is presented to analyze the stability of feedback systems with neural network controllers. Two stability theorems are given to prove asymptotic stability and to compute an…
Passivity-based distributed acquisition and station-keeping control of a satellite constellation in areostationary orbit
Emmanuel Sin, He Yin, Murat Arcak
We present a distributed control law to assemble a cluster of satellites into an equally-spaced, planar constellation in a desired circular orbit about a planet. We assume each sat…
Bayesian Safe Learning and Control with Sum-of-Squares Analysis and Polynomial Kernels
Alex Devonport, He Yin, Murat Arcak
We propose an iterative method to safely learn the unmodeled dynamics of a nonlinear system using Bayesian Gaussian process (GP) models with polynomial kernel functions. The method…
Backward Reachability using Integral Quadratic Constraints for Uncertain Nonlinear Systems
He Yin, Peter Seiler, Murat Arcak
A method is proposed to compute robust inner-approximations to the backward reachable set for uncertain nonlinear systems. It also produces a robust control law that drives traject…
Continuous and discrete abstractions for planning, applied to ship docking
Pierre-Jean Meyer, He Yin, Astrid H. Brodtkorb +2
We propose a hierarchical control framework for the synthesis of correct-by-construction controllers for nonlinear control-affine systems with respect to reach-avoid-stay specifica…
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…
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…
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…
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…