4 papers · 1 filter
Safe Receding-Horizon Control of Fixed-Wing Aircraft Using Constrained Approximate Dynamic Programming
Felipe Arenas-Uribe, Ricardo Gutierrez, Jesse B. Hoagg
We present a receding-horizon optimal control for fixed-wing aircraft subject to state constraints. These constraints include operational constraints such as altitude, geofencing,…
Receding-Horizon Nonlinear Optimal Control With Safety Constraints Using Constrained Approximate Dynamic Programming
Ricardo Gutierrez, Jesse B. Hoagg
We present a receding-horizon optimal control for nonlinear continuous-time systems subject to state constraints. The cost is a quadratic finite-horizon integral. The key enabling…
Control Barrier Functions With Real-Time Gaussian Process Modeling
Ricardo Gutierrez, Jesse B. Hoagg
We present an approach for satisfying state constraints in systems with nonparametric uncertainty by estimating this uncertainty with a real-time-update Gaussian process (GP) model…
Adaptive Control Barrier Functions with Vanishing Conservativeness Under Persistency of Excitation
Ricardo Gutierrez, Jesse B. Hoagg
This article presents a closed-form adaptive controlbarrier-function (CBF) approach for satisfying state constraints in systems with parametric uncertainty. This approach uses a sa…