4 papers
Geometric Hybrid Dynamical Systems: Part I - Modeling and Stability
Piyush P. Jirwankar, Daniel E. Ochoa, Ricardo G. Sanfelice
We present a framework for the modeling and analysis of geometric hybrid dynamical systems as hybrid inclusions on -manifolds. Using tools from nonsmooth and set-valued analys…
Model Predictive Control of Hybrid Dynamical Systems
Ricardo G. Sanfelice, Berk Altin
The problem of controlling hybrid dynamical systems using model predictive control (MPC) is formulated and sufficient conditions for asymptotic stability of a set are provided. Hyb…
cHyRRT and cHySST: Two Motion Planning Tools for Hybrid Dynamical Systems
Beverly Xu, Nan Wang, Ricardo Sanfelice
This paper presents two implementations of the recently developed motion planning algorithms HyRRT arXiv:2210.1508(2) and HySST arXiv:2305.1864(9). Specifically, cHyRRT, an impleme…
Deep Nonlinear Adaptive Control for Unmanned Aerial Systems Operating under Dynamic Uncertainties
Zachary Lamb, Zachary I. Bell, Matthew Longmire +3
Recent literature in the field of machine learning (ML) control has shown promising theoretical results for a Deep Neural Network (DNN) based Nonlinear Adaptive Controller (DNAC) c…