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eess.SY2021★ 1 cited
Improving the Feasibility of Moment-Based Safety Analysis for Stochastic Dynamics
Peter Du, Katherine Driggs-Campbell, Roy Dong
Given a stochastic dynamical system modelled via stochastic differential equations (SDEs), we evaluate the safety of the system through characterizations of its exit time moments.…
eess.SY2020
Robust Output Feedback MPC with Reduced Conservatism under Ellipsoidal Uncertainty
Tianchen Ji, Junyi Geng, Katherine Driggs-Campbell
Robust design of autonomous systems under uncertainty is an important yet challenging problem. This work proposes a robust controller that consists of a state estimator and a tube…