4 papers
Joint Observer-Based Output-Feedback Robust Guidance and Control Funnel Synthesis
Cheng Chang, Shiva Shakeri, Mehran Mesbahi
A joint guidance and robust observer-based output-feedback synthesis framework is developed for discrete-time nonlinear systems subject to bounded process disturbances and measurem…
Hidden Star-Convexity in Policy Optimization for Gain-Scheduled LQR: Extended Version
Shiva Shakeri, Péter Baranyi, Mehran Mesbahi
We study policy optimization for gain-scheduled linear quadratic regulation, where one schedule of gains, interpolated through fixed weighting functions, is optimized against a fam…
Receding-Horizon Policy Gradient for Polytopic Controller Synthesis
Shiva Shakeri, Péter Baranyi, Mehran Mesbahi
We propose the Polytopic Receding-Horizon Policy Gradient (P-RHPG) algorithm for synthesizing Parallel Distributed Compensation (PDC) controllers via Tensor Product (TP) model tran…
Robust Data-Driven Control for Nonlinear Systems Using their Digital Twins and Quadratic Funnels
Shiva Shakeri, Mehran Mesbahi
This paper examines a robust data-driven approach for the safe deployment of systems with nonlinear dynamics using their imperfect digital twins. Our contribution involves proposin…