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eess.SY2026
Exact-Safe MPPI: Safety-Aware Sampling with Nonsmooth Control Barrier Functions
Alexander Coker, Leilei Cui
Model predictive path integral (MPPI) control plans actions by sampling and evaluating trajectories, but standard MPPI does not guarantee safety. Incorporating control barrier func…
eess.SY2026
Parallel Policy-Gradient Methods for Parameter Optimization of Nonlinear Feedback Controllers
An Nguyen, Leilei Cui
Structured feedback controllers provide rigorous stability guarantees, but often require manual parameter tuning to achieve good closed-loop performance. Policy-gradient methods of…
eess.SY2026
LQR for Systems with Probabilistic Parametric Uncertainties: A Gradient Method
Leilei Cui, Richard D. Braatz
A gradient-based method is proposed for solving the linear quadratic regulator (LQR) problem for linear systems with nonlinear dependence on time-invariant probabilistic parametric…