5 papers
Banach Control Barrier Functions for Large-Scale Swarm Control
Xuting Gao, Guillem Pascual, Scott Brown +1
This paper studies the safe control of very large multi-agent systems via a generalized framework that employs so-called Banach Control Barrier Functions (B-CBFs). Modeling a large…
Robust Output-Feedback MPC for Nonlinear Systems with Applications to Robotic Exploration
Scott Brown, Mohammad Khajenejad, Aamodh Suresh +1
This paper introduces a novel method for robust output-feedback model predictive control (MPC) for a class of nonlinear discrete-time systems. We propose a novel interval-valued pr…
Distributed Resilient Interval Observer Synthesis for Nonlinear Discrete-Time Systems
Mohammad Khajenejad, Scott Brown, Sonia Martinez
This paper introduces a novel recursive distributed estimation algorithm aimed at synthesizing input and state interval observers for nonlinear bounded-error discrete-time multi-ag…
Computing Controlled Invariant Sets of Nonlinear Control-Affine Systems
Scott Brown, Mohammad Khajenejad, Sze Zheng Yong +1
In this paper, we consider the computation of controlled invariant sets (CIS) of discrete-time nonlinear control affine systems. We propose an iterative refinement procedure based…
Distributed Resilient Interval Observers for Bounded-Error LTI Systems Subject to False Data Injection Attacks
Mohammad Khajenejad, Scott Brown, Sonia Martinez
This paper proposes a novel distributed interval-valued simultaneous state and input observer for linear time-invariant (LTI) systems that are subject to attacks or unknown inputs…