10 papers
Acceleration of Moment Bound Optimization for Stochastic Chemical Reactions Using Reaction-wise Sparsity of Moment Equations
Tomoki Sadatoshi, Antonis Papachristodoulou, Yutaka Hori
Moment dynamics in stochastic chemical kinetics often involve an infinite chain of coupled equations, where lower-order moments depend on higher-order ones, making them analyticall…
On the Design of Rational Polynomial State Feedback Controllers
Matthew Newton, Zuxun Xiong, Han Wang +1
One of the desirable objectives in feedback control design is to formulate and solve the design problem as an optimisation problem that is convex, so that an optimal solution can b…
Model Predictive Control with Multiple Constraint Horizons
Allan Andre do Nascimento, Han Wang, Antonis Papachristodoulou +1
In this work we propose a Model Predictive Control (MPC) formulation that splits constraints in two different types. Motivated by safety considerations, the first type of constrain…
Constrained Diffusers for Safe Planning and Control
Jichen Zhang, Liqun Zhao, Antonis Papachristodoulou +1
Diffusion models have shown remarkable potential in planning and control tasks due to their ability to represent multimodal distributions over actions and trajectories. However, en…
Synthesis of safety certificates for discrete-time uncertain systems via convex optimization
Marta Fochesato, Han Wang, Antonis Papachristodoulou +1
We study the problem of co-designing control barrier functions and linear state feedback controllers for discrete-time linear systems affected by additive disturbances. For disturb…
Data-Enabled Predictive Control for Nonlinear Systems Based on a Koopman Bilinear Realization
Zuxun Xiong, Zhenyi Yuan, Keyan Miao +3
This paper extends the Willems' Fundamental Lemma to nonlinear control-affine systems using the Koopman bilinear realization. This enables us to bypass the Extended Dynamic Mode De…