68 citations · 76 across the 9 of their papers we have counts for
3 papers · 1 filter
Control Barrier Functions for Cyber-Physical Systems and Applications to NMPC
Jan Schilliger, Thomas Lew, Spencer M. Richards +3
Tractable safety-ensuring algorithms for cyber-physical systems are important in critical applications. Approaches based on Control Barrier Functions assume continuous enforcement,…
Adaptive Robust Model Predictive Control with Matched and Unmatched Uncertainty
Rohan Sinha, James Harrison, Spencer M. Richards +1
We propose a learning-based robust predictive control algorithm that compensates for significant uncertainty in the dynamics for a class of discrete-time systems that are nominally…
Adaptive-Control-Oriented Meta-Learning for Nonlinear Systems
Spencer M. Richards, Navid Azizan, Jean-Jacques Slotine +1
Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory…