1 citations · 2 across the 9 of their papers we have counts for
10 papers
Control of Markov Jump Linear Systems with Uncertain Lumpable Cluster Observations
Carlos A. F. Persiani, Ram Padmanabhan, Melkior Ornik +1
In this paper, we consider the control of Markov jump linear systems when the active system mode is not exactly known. We rather assume that this true mode is only known to belong…
Energetic Resilience under Temporal Logic Specifications
Ratnangshu Das, Ram Padmanabhan, Melkior Ornik +1
In environments with uncertainties or undesirable influences, control systems can require additional energy to achieve their task while remaining resilient to these influences. In…
Finite-time Reachability for Constrained, Partially Uncontrolled Nonlinear Systems
Ram Padmanabhan, Melkior Ornik
This paper presents a technique to drive the state of a constrained nonlinear system to a specified target state in finite time, when the system suffers a partial loss in control a…
Online Learning of Deceptive Policies under Intermittent Observation
Gokul Puthumanaillam, Ram Padmanabhan, Jose Fuentes +7
In supervisory control settings, autonomous systems are not monitored continuously. Instead, monitoring often occurs at sporadic intervals within known bounds. We study the problem…
Ignore Drift, Embrace Simplicity: Constrained Nonlinear Control through Driftless Approximation
Ram Padmanabhan, Melkior Ornik
We present a novel technique to drive a nonlinear system to reach a target state under input constraints. The proposed controller consists only of piecewise constant inputs, genera…
Mode-Prefix-Based Control of Switched Linear Systems with Applications to Fault Tolerance
Ram Padmanabhan, Antoine Aspeel, Necmiye Ozay +1
In this paper, we consider the problem of designing prefix-based optimal controllers for switched linear systems over finite horizons. This problem arises in fault-tolerant control…
Analysis of the Unscented Transform Controller for Systems with Bounded Nonlinearities
Siddharth A. Dinkar, Ram Padmanabhan, Anna Clarke +2
In this paper, we present an analysis of the Unscented Transform Controller (UTC), a technique to control nonlinear systems motivated as a dual to the Unscented Kalman Filter (UKF)…
Approximate Energetic Resilience of Nonlinear Systems under Partial Loss of Control Authority
Ram Padmanabhan, Melkior Ornik
In this paper, we quantify the resilience of nonlinear dynamical systems by studying the increased energy used by all inputs of a system that suffers a partial loss of control auth…
Energetic Resilience of Linear Driftless Systems
Ram Padmanabhan, Melkior Ornik
When a malfunction causes a control system to lose authority over a subset of its actuators, achieving a task may require spending additional energy in order to compensate for the…
How Much Reserve Fuel: Quantifying the Maximal Energy Cost of System Disturbances
Ram Padmanabhan, Craig Bakker, Siddharth Abhijit Dinkar +1
Motivated by the design question of additional fuel needed to complete a task in an uncertain environment, this paper introduces metrics to quantify the maximal additional energy u…