1 citations · 2 across the 26 of their papers we have counts for
26 papers
Consensus-Based Multi-Objective Controller Synthesis
Ingyu Jang, Leila J. Bridgeman
Despite longstanding interest, controller synthesis remains challenging for networks of heterogeneous, nonlinear agents. Moreover, the requirements for computational scalability an…
Communication-Aware Dissipative Output Feedback Control
Ingyu Jang, Leila J. Bridgeman
Communication-aware control is essential to reduce costs and complexity in large-scale networks. This work proposes a method to design dissipativity-augmented output feedback contr…
Local Dissipativity Analysis of Nonlinear Systems
Amy K. Strong, Leila Bridgeman
Dissipativity is an input-output (IO) characterization of nonlinear systems that enables compositional robust control through Vidyasagar's Network Dissipativity Theorem (VDNT). How…
Communication-Aware Dissipative Control for Networks of Heterogeneous Nonlinear Agents
Ingyu Jang, Leila J. Bridgeman
Communication-aware control is essential to reduce costs and complexity in large-scale networks. However, it is challenging to simultaneously determine a sparse communication topol…
Dissipativity and L2 Stability of Large-Scale Networks with Changing Interconnections
Ingyu Jang, Leila J. Bridgeman
In this paper, the L2 stability of switched networks is studied based on the QSR-dissipativity of each agent. While the integration of dissipativity with switched systems has recei…
Learning Control Barrier Functions with Deterministic Safety Guarantees
Amy K. Strong, Ali Kashani, Claus Danielson +1
Barrier functions (BFs) characterize safe sets of dynamical systems, where hard constraints are never violated as the system evolves over time. Computing a valid safe set and BF fo…
Data-driven certificates of constraint enforcement and stability for unmodeled, discrete dynamical systems using tree data structures
Amy K. Strong, Ali Kashani, Claus Danielson +1
This paper addresses the critical challenge of developing data-driven certificates for the stability and safety of unmodeled dynamical systems by leveraging a tree data structure a…
Consensus-Based Stability Analysis of Multi-Agent Networks
Ingyu Jang, Ethan J. LoCicero, Leila Bridgeman
The emergence of large-scale multi-agent systems has led to controller synthesis methods for sparse communication between agents. However, most sparse controller synthesis algorith…
Dissipativity-Based Distributed Stability Analysis for Networks with Heterogeneous Nonlinear Agents
Ingyu Jang, Ethan J. LoCicero, Leila Bridgeman
Stabilizing large networks of nonlinear agents is challenging; decomposition and distributed analysis of these networks are crucial for computational tractability and information s…
TumorMap: A Laser-based Surgical Platform for 3D Tumor Mapping and Fully-Automated Tumor Resection
Guangshen Ma, Ravi Prakash, Beatrice Schleupner +10
Surgical resection of malignant solid tumors is critically dependent on the surgeon's ability to accurately identify pathological tissue and remove the tumor while preserving surro…
Adaptive Meshing for CPA Lyapunov Function Synthesis
Amy K. Strong, Samuel Akinwande, Leila Bridgeman
Continuous Piecewise Affine (CPA) Lyapunov function synthesis is one method to perform Lyapunov stability analysis for nonlinear systems. This method first generates a mesh over th…
Data driven synthesis of provable invariant sets via stochastically sampled data
Amy K. Strong, Ali Kashani, Claus Danielson +1
Positive invariant (PI) sets are essential for ensuring safety, i.e. constraint adherence, of dynamical systems. With the increasing availability of sampled data from complex (and…
See, Plan, Cut: MPC-Based Autonomous Volumetric Robotic Laser Surgery with OCT Guidance
Ravi Prakash, Vincent Y. Wang, Arpit Mishra +5
Robotic laser systems offer the potential for sub-millimeter, non-contact, high-precision tissue resection, yet existing platforms lack volumetric planning and intraoperative feedb…
Issues with Input-Space Representation in Nonlinear Data-Based Dissipativity Estimation
Ethan LoCicero, Alex Penne, Leila Bridgeman
In data-based control, dissipativity can be a powerful tool for attaining stability guarantees for nonlinear systems if that dissipativity can be inferred from data. This work prov…
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…
Design and Evaluation of a Compliant Quasi Direct Drive End-effector for Safe Robotic Ultrasound Imaging
Danyi Chen, Ravi Prakash, Vincent Y. Wang +6
Robot-assisted ultrasound scanning promises to advance autonomous and accessible medical imaging. However, ensuring patient safety and compliant human-robot interaction during prob…
Stochastic Dissipativity for Systems with Probabilistic Input Delays
Ethan LoCicero, Amy Strong, Leila Bridgeman
This work considers stochastic operators in general inner-product spaces, and in particular, systems with stochastically time-varying input delays of a known probability distributi…
Dissipative Imitation Learning for Discrete Dynamic Output Feedback Control with Sparse Data Sets
Amy K. Strong, Ethan J. LoCicero, Leila J. Bridgeman
Imitation learning enables the synthesis of controllers for complex objectives and highly uncertain plant models. However, methods to provide stability guarantees to imitation lear…
Improved Small-Signal L2 Gain Analysis for Nonlinear Systems
Amy Strong, Reza Lavaei, Leila J. Bridgeman
TheL2-gain characterizes a dynamical system's input-output properties, but can be difficult to determine for nonlinear systems. Previous work designed a nonconvex optimization prob…
Iterative, Small-Signal L2 Stability Analysis of Nonlinear Constrained Systems
Reza Lavaei, Leila J. Bridgeman
This paper provides a method to analyze the small-signal L2 gain of control-affine nonlinear systems on compact sets via iterative semi-definite programs. First, a continuous piece…
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…
Simultaneous Controller and Lyapunov Function Design for Constrained Nonlinear Systems
Reza Lavaei, Leila Bridgeman
This paper presents a method to stabilize state and input constrained nonlinear systems using an offline optimization on variable triangulations of the set of admissible states. Fo…