24 citations · 50 across the 7 of their papers we have counts for
7 papers
Robust Tracking of Curvature-Constrained Paths for Uncertain Dubins Systems
Xingjian Xue, Sze Zheng Yong
This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely…
Time-Invariant Polytopic and Interval Observers for Uncertain Linear Systems via Non-Square Transformation
Feiya Zhu, Tarun Pati, Sze Zheng Yong
This paper presents novel polytopic and interval observer designs for uncertain linear continuous-time (CT) and discrete-time (DT) systems subjected to bounded disturbances and noi…
Control Barrier Functions for Linear Continuous-Time Input-Delay Systems with Limited-Horizon Previewable Disturbances
Tarun Pati, Seunghoon Hwang, Sze Zheng Yong
Cyber-physical and autonomous systems are often equipped with mechanisms that provide predictions/projections of future disturbances, e.g., road curvatures, commonly referred to as…
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…
Tight Remainder-Form Decomposition Functions with Applications to Constrained Reachability and Guaranteed State Estimation
Mohammad Khajenejad, Sze Zheng Yong
This paper proposes a tractable family of remainder-form mixed-monotone decomposition functions that are useful for over-approximating the image set of nonlinear mappings in reacha…
Simultaneous State and Unknown Input Set-Valued Observers for Some Classes of Nonlinear Dynamical Systems
Mohammad Khajenejad, Sze Zheng Yong
In this paper, we propose fixed-order set-valued (in the form of l2-norm hyperballs) observers for some classes of nonlinear bounded-error dynamical systems with unknown input sign…
Simultaneous Input and State Estimation for Linear Time-Varying Continuous-Time Stochastic Systems
Sze Zheng Yong, Minghui Zhu, Emilio Frazzoli
In this paper, we present an optimal filter for linear time-varying continuous-time stochastic systems that simultaneously estimates the states and unknown inputs in an unbiased mi…