1 citations · 2 across the 5 of their papers we have counts for
5 papers
Sampling-Based Model Predictive Control for Volumetric Ablation in Robotic Laser Surgery
Vincent Y. Wang, Ravi Prakash, Siobhan R. Oca +3
Laser-based surgical ablation relies heavily on surgeon involvement, restricting precision to the limits of human error. The interaction between laser and tissue is governed by var…
Dissipative Imitation Learning for Robust Dynamic Output Feedback
Amy K. Strong, Ethan J. LoCicero, Leila Bridgeman
Robust imitation learning seeks to mimic expert controller behavior while ensuring stability, but current methods require accurate plant models. Here, robust imitation learning is…
Systematic, Lyapunov-Based, Safe and Stabilizing Controller Synthesis for Constrained Nonlinear Systems
Reza Lavaei, Leila Bridgeman
A controller synthesis method for state- and input-constrained nonlinear systems is presented that seeks continuous piecewise affine (CPA) Lyapunov-like functions and controllers s…
Systematic Stabilization of Constrained Piecewise Affine Systems
Reza Lavaei, Leila Bridgeman
This paper presents an efficient, offline method to simultaneously synthesize controllers and seek closed-loop Lyapunov functions for constrained piecewise affine systems on triang…
Fixed-Order H2-Conic Control
Ethan J. LoCicero, Leila Bridgeman
H2-conic controller design seeks to minimize the closed-loop H2-norm for a nominal linear system while satisfying the Conic Sector Theorem for nonlinear stability. This problem has…