4 citations · 10 across the 18 of their papers we have counts for
12 papers · 1 filter
Universal Barrier Functions for Safety and Stability of Constrained Nonlinear Systems
Vrushabh Zinage, Efstathios Bakolas
In this paper, we address the problem of synthesizing safe and stabilizing controllers for nonlinear systems subject to complex safety specifications and input constraints. We intr…
Leveraging Gated Recurrent Units for Iterative Online Precise Attitude Control for Geodetic Missions
Vrushabh Zinage, Shrenik Zinage, Srinivas Bettadpur +1
In this paper, we consider the problem of precise attitude control for geodetic missions, such as the GRACE Follow-on (GRACE-FO) mission. Traditional and well-established control m…
Neural Differentiable Integral Control Barrier Functions for Unknown Nonlinear Systems with Input Constraints
Vrushabh Zinage, Rohan Chandra, Efstathios Bakolas
In this paper, we propose a deep learning based control synthesis framework for fast and online computation of controllers that guarantees the safety of general nonlinear control s…
Disturbance Observer-based Robust Integral Control Barrier Functions for Nonlinear Systems with High Relative Degree
Vrushabh Zinage, Rohan Chandra, Efstathios Bakolas
In this paper, we consider the problem of safe control synthesis of general controlled nonlinear systems in the presence of bounded additive disturbances. Towards this aim, we firs…
Semi-global Exponential Stability for Dual Quaternion Based Rigid-Body Tracking Control
Vrushabh Zinage, S P Arjun Ram, Maruthi R. Akella +1
Semi-Global Exponential Stability (SGES) is proved for the combined attitude and position rigid body motion tracking problem, which was previously only known to be asymptotically s…
Neural Koopman Control Barrier Functions for Safety-Critical Control of Unknown Nonlinear Systems
Vrushabh Zinage, Efstathios Bakolas
We consider the problem of synthesis of safe controllers for nonlinear systems with unknown dynamics using Control Barrier Functions (CBF). We utilize Koopman operator theory (KOT)…