5 papers · 1 filter
Time Shift Governor-Guided MPC with Collision Cone CBFs for Safe Adaptive Cruise Control in Dynamic Environments
Robin Inho Kee, Taehyeun Kim, Anouck Girard +1
This paper introduces a Time Shift Governor (TSG)-guided Model Predictive Controller with Control Barrier Functions (CBFs)-based constraints for adaptive cruise control (ACC). This…
Control Invariant Sets for Neural Network Dynamical Systems and Recursive Feasibility in Model Predictive Control
Xiao Li, Tianhao Wei, Changliu Liu +2
Neural networks are powerful tools for data-driven modeling of complex dynamical systems, enhancing predictive capability for control applications. However, their inherent nonlinea…
Constrained Control for Autonomous Spacecraft Rendezvous: Learning-Based Time Shift Governor
Taehyeun Kim, Robin Inho Kee, Ilya Kolmanovsky +1
This paper develops a Time Shift Governor (TSG)-based control scheme to enforce constraints during rendezvous and docking (RD) missions in the setting of the Two-Body problem. As a…
CIKAN: Constraint Informed Kolmogorov-Arnold Networks for Autonomous Spacecraft Rendezvous using Time Shift Governor
Taehyeun Kim, Anouck Girard, Ilya Kolmanovsky
The paper considers a Constrained-Informed Neural Network (CINN) approximation for the Time Shift Governor (TSG), which is an add-on scheme to the nominal closed-loop system used t…
Time Shift Governor for Constrained Control of Spacecraft Orbit and Attitude Relative Motion in Bicircular Restricted Four-Body Problem
Taehyeun Kim, Ilya Kolmanovsky, Anouck Girard
This paper considers constrained spacecraft rendezvous and docking (RVD) in the setting of the Bicircular Restricted Four-Body Problem (BCR4BP), while accounting for attitude dynam…