7 papers
On the Design of Rational Polynomial State Feedback Controllers
Matthew Newton, Zuxun Xiong, Han Wang +1
One of the desirable objectives in feedback control design is to formulate and solve the design problem as an optimisation problem that is convex, so that an optimal solution can b…
Model Predictive Control with Multiple Constraint Horizons
Allan Andre do Nascimento, Han Wang, Antonis Papachristodoulou +1
In this work we propose a Model Predictive Control (MPC) formulation that splits constraints in two different types. Motivated by safety considerations, the first type of constrain…
Synthesis of safety certificates for discrete-time uncertain systems via convex optimization
Marta Fochesato, Han Wang, Antonis Papachristodoulou +1
We study the problem of co-designing control barrier functions and linear state feedback controllers for discrete-time linear systems affected by additive disturbances. For disturb…
Data-Enabled Predictive Control for Nonlinear Systems Based on a Koopman Bilinear Realization
Zuxun Xiong, Zhenyi Yuan, Keyan Miao +3
This paper extends the Willems' Fundamental Lemma to nonlinear control-affine systems using the Koopman bilinear realization. This enables us to bypass the Extended Dynamic Mode De…
Opt-ODENet: A Neural ODE Framework with Differentiable QP Layers for Safe and Stable Control Design (longer version)
Keyan Miao, Liqun Zhao, Han Wang +2
Designing controllers that achieve task objectives while ensuring safety is a key challenge in control systems. This work introduces Opt-ODENet, a Neural ODE framework with a diffe…
Constraint Horizon in Model Predictive Control
Allan Andre Do Nascimento, Han Wang, Antonis Papachristodoulou +1
In this work, we propose a Model Predictive Control (MPC) formulation incorporating two distinct horizons: a prediction horizon and a constraint horizon. This approach enables a de…