1 citations · 1 across the 6 of their papers we have counts for
6 papers
Generalizable Optimal Control with Transformers: Closed-Loop Certification and Near-Optimality Guarantees
Turki Bin Mohaya, Maitham F. AL-Sunni, John M. Dolan +1
This letter develops closed-loop performance certificates for a transformer-based feedback policy. The policy is trained to imitate optimal Linear Quadratic Regulator (LQR) control…
Generalizable Optimal Control with Transformers: One Policy Across Diverse Systems
Turki Bin Mohaya, Maitham F. AL-Sunni, John M. Dolan +1
Classical optimal control designs a separate controller for each plant. Even for the Linear Quadratic Regulator (LQR), every new model must be identified and its Riccati equation r…
LLA-MPC: Fast Adaptive Control for Autonomous Racing
Maitham F. AL-Sunni, Hassan Almubarak, Katherine Horng +1
We present Look-Back and Look-Ahead Adaptive Model Predictive Control (LLA-MPC), a real-time adaptive control framework for autonomous racing that addresses the challenge of rapidl…
Safety Embedded Adaptive Control Using Barrier States
Maitham F. AL-Sunni, Hassan Almubarak, John M. Dolan
In this work, we explore the application of barrier states (BaS) in the realm of safe nonlinear adaptive control. Our proposed framework derives barrier states for systems with par…
Barrier-Riccati Synthesis for Nonlinear Safe Control with Expanded Region of Attraction
Hassan Almubarak, Maitham F. AL-Sunni, Justin T. Dubbin +3
We present a Riccati-based framework for safety-critical nonlinear control that integrates the barrier states (BaS) methodology with the State-Dependent Riccati Equation (SDRE) app…
Rethinking Safe Control in the Presence of Self-Seeking Humans
Zixuan Zhang, Maitham AL-Sunni, Haoming Jing +2
Safe control methods are often intended to behave safely even in worst-case human uncertainties. However, humans may exploit such safety-first systems, which results in greater ris…