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eess.SY2021
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…
math.OC2021
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…
eess.SY2021
Failing with Grace: Learning Neural Network Controllers that are Boundedly Unsafe
Panagiotis Vlantis, Leila J. Bridgeman, Michael M. Zavlanos
In this work, we consider the problem of learning a feed-forward neural network controller to safely steer an arbitrarily shaped planar robot in a compact and obstacle-occluded wor…