6 citations · 6 across the 5 of their papers we have counts for
3 papers · 1 filter
Reduced Order Model Predictive Control For Setpoint Tracking
Joseph Lorenzetti, Benoit Landry, Sumeet Singh +1
Despite the success of model predictive control (MPC), its application to high-dimensional systems, such as flexible structures and coupled fluid/rigid-body systems, remains a larg…
Robust Tracking with Model Mismatch for Fast and Safe Planning: an SOS Optimization Approach
Sumeet Singh, Mo Chen, Sylvia L. Herbert +2
In the pursuit of real-time motion planning, a commonly adopted practice is to compute a trajectory by running a planning algorithm on a simplified, low-dimensional dynamical model…
Learning Stabilizable Dynamical Systems via Control Contraction Metrics
Sumeet Singh, Vikas Sindhwani, Jean-Jacques E. Slotine +1
We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key idea is to develop a new control-theoretic regu…