12 papers
Learning Spatiotemporal Tubes for Full Class of Signal Temporal Logic Tasks for Control of Unknown Systems under Input Constraints
Ahan Basu, Ratnangshu Das, Soumyodipta Nath +2
This paper presents a Spatiotemporal Tube (STT)-based control framework for general unknown nonlinear Euler-Lagrange (EL) systems subject to input constraints, with the objective o…
Neural Network-based Co-design of Output-Feedback Control Barrier Function and Observer with Input Constraints
Vaishnavi Jagabathula, Ahan Basu, Pushpak Jagtap
Control Barrier Functions (CBFs) provide a powerful framework for ensuring safety in dynamical systems. However, their application typically relies on full state information, which…
Glycemic Safety Tube: A Provably Safe Control Framework for Artificial Pancreas Systems under Parametric Uncertainty
Pukhrambam Akash Singh, Ratnangshu Das, Ahan Basu +1
Type 1 diabetes eliminates the body's ability to produce insulin, making glucose regulation entirely dependent on external insulin delivery and the control algorithm. Existing clos…
Temporal Reach-Avoid-Stay Control for Differential Drive Systems via Spatiotemporal Tubes
Ratnangshu Das, Ahan Basu, Christos Verginis +1
This paper presents a computationally lightweight and robust control framework for differential-drive mobile robots with dynamic uncertainties and external disturbances, guaranteei…
Input-to-State Stabilizing Neural Controllers for Unknown Switched Nonlinear Systems within Compact Sets
Bhabani Shankar Dey, Ahan Basu, Pushpak Jagtap
This paper develops a neural network based control framework that ensures system safety and input-to-state stability (ISS) for general nonlinear switched systems with unknown dynam…
Neural Controller for Incremental Stability of Unknown Continuous-time Systems
Ahan Basu, Bhabani Shankar Dey, Pushpak Jagtap
This work primarily focuses on synthesizing a controller that guarantees an unknown continuous-time system to be incrementally input-to-state stable (-ISS). In this context, th…