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Learning Robust Control Lyapunov Functions through Lipschitz Neural Networks
Shiqing Wei, Prashanth Krishnamurthy, Farshad Khorrami
This work presents a novel framework for learning robust control Lyapunov functions and stabilizing controllers for nonlinear dynamical systems subject to additive disturbances upp…
Data-Efficient System Identification via Lipschitz Neural Networks
Shiqing Wei, Prashanth Krishnamurthy, Farshad Khorrami
Extracting dynamic models from data is of enormous importance in understanding the properties of unknown systems. In this work, we employ Lipschitz neural networks, a class of neur…
Collision Avoidance for Convex Primitives via Differentiable Optimization Based High-Order Control Barrier Functions
Shiqing Wei, Rooholla Khorrambakht, Prashanth Krishnamurthy +2
Ensuring the safety of dynamical systems is crucial, where collision avoidance is a primary concern. Recently, control barrier functions (CBFs) have emerged as an effective method…
Confidence-Aware Safe and Stable Control of Control-Affine Systems
Shiqing Wei, Prashanth Krishnamurthy, Farshad Khorrami
Designing control inputs that satisfy safety requirements is crucial in safety-critical nonlinear control, and this task becomes particularly challenging when full-state measuremen…