21 papers
Switching Observers for Linear Systems: Beyond Individual Observability
Masoud S. Sakha, Rushikesh Kamalapurkar
This paper develops an LMI-based switching observer for linear time-invariant systems with two output channels, where only one output is available at any given time. We assume that…
Safe Output-Feedback Adaptive Optimal Control of Input-Constrained Control-Affine Nonlinear Systems
Tochukwu Elijah Ogri, Muzaffar Qureshi, Zachary I. Bell +1
In this paper, a novel online, safe output-feedback, critic-only, adaptive optimal control framework is developed for safety-critical control of partially observable systems. The d…
Integral Formulation of QENDy for Robust Nonlinear System Identification
Nikhil Saran, Sushant Pokhriyal, Stefan Klus +2
This manuscript proposes an integral formulation of the newly defined quadratic embedding method for identifying nonlinear systems (QENDy). In the original algorithm, trajectory da…
Parallel OctoMapping: A Scalable Framework for Enhanced Path Planning in Autonomous Navigation
Yihui Mao, Tian Tan, Xuehui Shen +2
Mapping is essential in robotics and autonomous systems because it provides the spatial foundation for path planning. Efficient mapping enables planning algorithms to generate reli…
A Dynamic Mode Decomposition Approach to Parameter Identification
Moad Abudia, Opeyemi Owolabi, Joel A. Rosenfeld +1
This paper presents a data-driven algorithm for simultaneous system identification and parameter estimation in control-affine nonlinear systems. Parameter estimation is achieved by…
Adaptive Control with Sparse Identification of Nonlinear Dynamics
Trivikram Satharasi, Tochukwu E. Ogri, Muzaffar Qureshi +2
This paper develops a sparsity-promoting integral concurrent learning (SP-ICL) adaptation law for a linearly parametrized uncertain nonlinear control-affine system. The unknown par…