8 papers · 1 filter
Tracking Real-time Anomalies in Cyber-Physical Systems Through Dynamic Behavioral Analysis
Prashanth Krishnamurthy, Ali Rasteh, Ramesh Karri +1
Increased connectivity and remote reprogrammability/reconfigurability features of embedded devices in current-day power systems (including interconnections between information tech…
Confidence-Aware Safe and Stable Control of Control-Affine Systems
Shiqing Wei, Prashanth Krishnamurthy, Farshad Khorrami
Designing control inputs that satisfy safety requirements is crucial in safety-critical nonlinear control, and this task becomes particularly challenging when full-state measuremen…
High-Dimensional Controller Tuning through Latent Representations
Alireza Sarmadi, Prashanth Krishnamurthy, Farshad Khorrami
In this paper, we propose a method to automatically and efficiently tune high-dimensional vectors of controller parameters. The proposed method first learns a mapping from the high…
Using Circulation to Mitigate Spurious Equilibria in Control Barrier Function -- Extended Version
Vinicius Mariano Goncalves, Prashanth Krishnamurthy, Anthony Tzes +1
Control Barrier Functions and Quadratic Programming are increasingly used for designing controllers that consider critical safety constraints. However, like Artificial Potential Fi…
State Constrained Stochastic Optimal Control for Continuous and Hybrid Dynamical Systems Using DFBSDE
Bolun Dai, Prashanth Krishnamurthy, Andrew Papanicolaou +1
We develop a computationally efficient learning-based forward-backward stochastic differential equations (FBSDE) controller for both continuous and hybrid dynamical (HD) systems su…
Neural Lyapunov Control for Nonlinear Systems with Unstructured Uncertainties
Shiqing Wei, Prashanth Krishnamurthy, Farshad Khorrami
Stabilizing controller design and region of attraction (RoA) estimation are essential in nonlinear control. Moreover, it is challenging to implement a control Lyapunov function (CL…