4 citations · 13 across the 39 of their papers we have counts for
8 papers · 1 filter
Co-designing a Layered Control Architecture
Chris Verhoek, Charis Stamouli, George J. Pappas +1
Layered control architectures (LCAs) are ubiquitous in complex engineering systems. However, in practice they are largely designed ad hoc and mostly dictated by the experience of t…
Optimal input design via Frank-Wolfe
Fethi Bencherki, Bruce Lee, Nikolai Matni +1
We study optimal input design over a finite horizon for linear dynamical systems. The goal is to minimize a weighted inverse-covariance (information) criterion subject to an energy…
Verification of Sequential Convex Programming for Parametric Non-convex Optimization
Rajiv Sambharya, Nikolai Matni, George Pappas
We introduce a verification framework to exactly verify the worst-case performance of sequential convex programming (SCP) algorithms for parametric non-convex optimization. The ver…
Learning Acceleration Algorithms for Fast Parametric Convex Optimization with Certified Robustness
Rajiv Sambharya, Jinho Bok, Nikolai Matni +1
We develop a machine-learning framework to learn hyperparameter sequences for accelerated first-order methods (e.g., the step size and momentum sequences in accelerated gradient de…
Closed-loop Analysis of ADMM-based Suboptimal Linear Model Predictive Control
Anusha Srikanthan, Aren Karapetyan, Vijay Kumar +1
Many practical applications of optimal control are subject to real-time computational constraints. When applying model predictive control (MPC) in these settings, respecting timing…
Towards a Theory of Control Architecture: A quantitative framework for layered multi-rate control
Nikolai Matni, Aaron D. Ames, John C. Doyle
This paper focuses on the need for a rigorous theory of layered control architectures (LCAs) for complex engineered and natural systems, such as power systems, communication networ…
Augmented Lagrangian Methods as Layered Control Architectures
Anusha Srikanthan, Vijay Kumar, Nikolai Matni
For optimal control problems that involve planning and following a trajectory, two degree of freedom (2DOF) controllers are a ubiquitously used control architecture that decomposes…
Explicit Distributed and Localized Model Predictive Control via System Level Synthesis
Carmen Amo Alonso, Nikolai Matni, James Anderson
An explicit Model Predictive Control algorithm for large-scale structured linear systems is presented. We base our results on Distributed and Localized Model Predictive Control (DL…