4 papers
Robust Direct Data-Driven Hamiltonian for Safe Set Computation under Measurement Noise and Disturbances
Mohammad Bajelani, Christopher A. Strong, Claire J. Tomlin +2
Safe set computation is a fundamental challenge in safety-critical control systems, especially in direct data-driven settings where safety analysis is performed directly from noise…
A Modular Safety Filter for Safety-Certified Cyber-Physical Systems
Mohammad Bajelani, Mehran Attar, Walter Lucia +1
Nowadays, many control systems are networked and embed communication and computation capabilities. Such control architectures are prone to cyber attacks on the cyberinfrastructure.…
Data-Driven Input-Output Control Barrier Functions
Mohammad Bajelani, Klaske van Heusden
Control Barrier Functions (CBFs) offer a framework for ensuring set invariance and designing constrained control laws. However, crafting a valid CBF relies on system-specific assum…
Set-Theoretic Direct Data-driven Predictive Control
Mohammad Bajelani, Walter Lucia, Klaske van Heusden
Designing the terminal ingredients of direct data-driven predictive control presents challenges due to its reliance on an implicit, non-minimal input-output data-driven representat…