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eess.SY2023
Robust Adaptive MPC Using Uncertainty Compensation
Ran Tao, Pan Zhao, Ilya Kolmanovsky +1
This paper presents an uncertainty compensation-based robust adaptive model predictive control (MPC) framework for linear systems with both matched and unmatched nonlinear uncertai…
eess.SY2023
Learning Tube-Certified Control using Robust Contraction Metrics
Vivek Sharma, Pan Zhao, Naira Hovakimyan
Control design for general nonlinear robotic systems with guaranteed stability and/or safety in the presence of model uncertainties is a challenging problem. Recent efforts attempt…
eess.SY2022★ 1 cited
Integrated Adaptive Control and Reference Governors for Constrained Systems with State-Dependent Uncertainties
Pan Zhao, Ilya Kolmanovsky, Naira Hovakimyan
This paper presents an adaptive reference governor (RG) framework for a linear system with matched nonlinear uncertainties that can depend on both time and states, subject to both…