9 papers
Safe Output-Feedback Adaptive Optimal Control of Input-Constrained Control-Affine Nonlinear Systems
Tochukwu Elijah Ogri, Muzaffar Qureshi, Zachary I. Bell +1
In this paper, a novel online, safe output-feedback, critic-only, adaptive optimal control framework is developed for safety-critical control of partially observable systems. The d…
Safe Output-Feedback Adaptive Optimal Control of Affine Nonlinear Systems
Tochukwu E. Ogri, Muzaffar Qureshi, Zachary I. Bell +2
In this paper, we develop a safe control synthesis method that integrates state estimation and parameter estimation within an adaptive optimal control (AOC) and control barrier fun…
A Taylor Series Approach to Correction of Input Errors in Gaussian Process Regression
Muzaffar Qureshi, Tochukwu Elijah Ogri, Zachary I. Bell +2
Gaussian Processes (GPs) are widely recognized as powerful non-parametric models for regression and classification. Traditional GP frameworks predominantly operate under the assump…
System Identification and Control Using Lyapunov-Based Deep Neural Networks without Persistent Excitation: A Concurrent Learning Approach
Rebecca G. Hart, Omkar Sudhir Patil, Zachary I. Bell +1
Deep Neural Networks (DNNs) are increasingly used in control applications due to their powerful function approximation capabilities. However, many existing formulations focus prima…
Improved Dwell-times for Switched Nonlinear Systems using Memory Regression Extension
Muzaffar Qureshi, Tochukwu Elijah Ogri, Humberto Ramos +3
This paper presents a switched systems approach for extending the dwell-time of an autonomous agent during GPS-denied operation by leveraging memory regressor extension (MRE) techn…
Experimental Validation of Distributed Dispatching of Multiple Active Distribution Networks Using the ADMM
Matthieu Jacobs, Hanmin Cai, Mario Paolone
This paper presents the experimental validation of a framework for the coordinated dispatch and control of multiple active distribution networks (ADNs) hosting distributed energy r…