76 citations · 83 across the 8 of their papers we have counts for
8 papers
Parameterized Barrier Functions to Guarantee Safety under Uncertainty
Anil Alan, Tamas G. Molnar, Aaron D. Ames +1
Deploying safety-critical controllers in practice necessitates the ability to modulate uncertainties in control systems. In this context, robust control barrier functions -- in a v…
Experimental Validation of a Safe Controller Integration Scheme for Connected Automated Trucks
Anil Alan, Chaozhe R. He, Tamas G. Molnar +3
Accomplishing safe and efficient driving is one of the predominant challenges in the controller design of connected automated vehicles (CAVs). It is often more convenient to addres…
Disturbance Observers for Robust Safety-critical Control with Control Barrier Functions
Anil Alan, Tamas G. Molnar, Ersin Das +2
This work provides formal safety guarantees for control systems with disturbance. A disturbance observer-based robust safety-critical controller is proposed, that estimates the eff…
Control Barrier Functions and Input-to-State Safety with Application to Automated Vehicles
Anil Alan, Andrew J. Taylor, Chaozhe R. He +2
Balancing safety and performance is one of the predominant challenges in modern control system design. Moreover, it is crucial to robustly ensure safety without inducing unnecessar…
Input-to-State Safety with Input Delay in Longitudinal Vehicle Control
Tamas G. Molnar, Anil Alan, Adam K. Kiss +2
Safe longitudinal control is discussed for a connected automated truck traveling behind a preceding connected vehicle. A controller is proposed based on control barrier function th…
Safety-Aware Preference-Based Learning for Safety-Critical Control
Ryan K. Cosner, Maegan Tucker, Andrew J. Taylor +7
Bringing dynamic robots into the wild requires a tenuous balance between performance and safety. Yet controllers designed to provide robust safety guarantees often result in conser…
Safe Controller Synthesis with Tunable Input-to-State Safe Control Barrier Functions
Anil Alan, Andrew J. Taylor, Chaozhe R. He +2
To bring complex systems into real world environments in a safe manner, they will have to be robust to uncertainties - both in the environment and the system. This paper investigat…
Adaptive Pressure Control for Use in Variable-Thrust Rocket Development
Anil Alan, Yildiray Yildiz, Umit Poyraz
The precise control of gas generator pressure is important to obtain variable thrust in ducted rockets. A delay resistant closed loop reference model adaptive control is proposed i…