7 papers
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…
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…
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…