82 citations · 220 across the 23 of their papers we have counts for
13 papers · 1 filter
Using Finite-Time Control to Synthesize Dynamic Backup Control Barrier Functions
Victor Turpin-Aguayo, Victor Freire, Marco M. Nicotra
This paper presents a novel approach for the construction of control barrier functions (CBFs) for controllable linear systems subject to multiple state and input constraints. The a…
Direct and Indirect Data-Driven Control with Prior Information about the Equilibrium Manifold
Yi-Chun Liao, Valentina Breschi, Marco M. Nicotra
By hinging on the assumption that a system to be controlled is fully unknown, many data-driven control approaches do not leverage available or readily inferable priors. In contrast…
Designing Control Barrier Functions Using a Dynamic Backup Policy
Victor Freire, Marco M. Nicotra
This paper presents a systematic approach to construct control barrier functions for nonlinear control affine systems subject to arbitrary state and input constraints. Taking inspi…
Using Dynamic Safety Margins as Control Barrier Functions
Victor Freire, Marco M. Nicotra
This paper presents an approach to design control barrier functions (CBFs) for arbitrary state and input constraints using tools from the reference governor literature. In particul…
Stability Analysis of Hypersampled Model Predictive Control
Yaashia Gautam, Marco M. Nicotra
This paper introduces a new framework for analyzing the stability of discrete-time model predictive controllers acting on continuous-time systems. The proposed framework introduces…
Constrained Power Reference Control for Wind Turbines
Daniel S. Zalkind, Marco M. Nicotra, Lucy Y. Pao
The cost of wind energy can be reduced by controlling the power reference of a turbine to increase energy capture, while maintaining load and generator speed constraints. We apply…
A Semismooth Predictor Corrector Method for Suboptimal Model Predictive Control
Dominic Liao-McPherson, Marco Nicotra, Ilya Kolmanovsky
Suboptimal model predictive control is a technique that can reduce the computational cost of model predictive control (MPC) by exploiting its robustness to incomplete optimization.…
Spacecraft Attitude Control with Nonconvex Constraints: An Explicit Reference Governor Approach
Marco Nicotra, Dominic Liao-McPherson, Laurent Burlion +1
This paper introduces a novel attitude controller for spacecraft subject to actuator saturation and multiple exclusion cone constraints. The proposed solution relies on a two-layer…
Technical Note for "A Geodesic Approach for the Control of Tethered Quadrotors"
Tam W. Nguyen, Marco M. Nicotra, Emanuele Garone
This technical note focuses on the control of a quadrotor unmanned aerial vehicle (UAV) tethered to the ground. The control objective is to stabilize the UAV to the desired positio…
Explicit Reference Governor for the Constrained Control of Time-Delayed Linear Systems
Marco M. Nicotra, Tam Nguyen, Emanuele Garone +1
This paper introduces an explicit reference governor approach for controlling time delay linear systems subject to state and input constraints. The proposed framework relies on sui…
Embedding Constrained Model Predictive Control in a Continuous-Time Dynamic Feedback
Marco M. Nicotra, Dominic Liao-McPherson, Ilya V. Kolmanovsky
This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach…
Nonlinear Control of a Tethered UAV: the Taut Cable case
Nicotra Marco M., Naldi Roberto, Garone Emanuele
This paper focuses on the design of a stabilizing control law for an aerial vehicle which is physically connected to a ground station by means of a tether cable. By taking advantag…
Explicit Reference Governor for Continuous Time Nonlinear Systems Subject to Convex Constraints
Emanuele Garone, Marco M. Nicotra
This paper introduces a novel closed-form strategy that dynamically modifies the reference of a pre-compensated nonlinear system to ensure the satisfaction of a set of convex const…