2 papers
cs.RO2025
LLA-MPC: Fast Adaptive Control for Autonomous Racing
Maitham F. AL-Sunni, Hassan Almubarak, Katherine Horng +1
We present Look-Back and Look-Ahead Adaptive Model Predictive Control (LLA-MPC), a real-time adaptive control framework for autonomous racing that addresses the challenge of rapidl…
eess.SY2025
Safety Embedded Adaptive Control Using Barrier States
Maitham F. AL-Sunni, Hassan Almubarak, John M. Dolan
In this work, we explore the application of barrier states (BaS) in the realm of safe nonlinear adaptive control. Our proposed framework derives barrier states for systems with par…