11 citations · 13 across the 8 of their papers we have counts for
3 papers · 1 filter
KALIKO: Kalman-Implicit Koopman Operator Learning For Prediction of Nonlinear Dynamical Systems
Albert H. Li, Ivan Dario Jimenez Rodriguez, Joel W. Burdick +2
Long-horizon dynamical prediction is fundamental in robotics and control, underpinning canonical methods like model predictive control. Yet, many systems and disturbance phenomena…
Safety-Critical Control with Bounded Inputs: A Closed-Form Solution for Backup Control Barrier Functions
David E. J. van Wijk, Ersin Das, Tamas G. Molnar +2
Verifying the safety of controllers is critical for many applications, but is especially challenging for systems with bounded inputs. Backup control barrier functions (bCBFs) offer…
Hybrid Data-Driven Predictive Control for Robust and Reactive Exoskeleton Locomotion Synthesis
Kejun Li, Jeeseop Kim, Maxime Brunet +3
Robust bipedal locomotion in exoskeletons requires the ability to dynamically react to changes in the environment in real time. This paper introduces the hybrid data-driven predict…