3 papers
eess.SY2026
Stability-Preserving Online Adaptation of Neural Closed-loop Maps
Danilo Saccani, Luca Furieri, Giancarlo Ferrari-Trecate
The growing complexity of modern control tasks calls for controllers that can react online as objectives and disturbances change, while preserving closed-loop stability. Recent app…
eess.SY2026
Safety-Aware Performance Boosting for Constrained Nonlinear Systems
Danilo Saccani, Haoming Shen, Luca Furieri +1
We study a control architecture for nonlinear constrained systems that integrates a performance-boosting (PB) controller with a scheduled Predictive Safety Filter (PSF). The PSF ac…
eess.SY2025
MAD: A Magnitude And Direction Policy Parametrization for Stability Constrained Reinforcement Learning
Luca Furieri, Sucheth Shenoy, Danilo Saccani +2
We introduce magnitude and direction (MAD) policies, a policy parameterization for reinforcement learning (RL) that preserves Lp closed-loop stability for nonlinear dynamical syste…