3 citations · 4 across the 8 of their papers we have counts for
8 papers
Iterative State- and Control-Dependent Model Predictive Control: A Jacobian-Free Formulation for Constrained Nonlinear Systems
Mohammadreza Kamaldar
This paper presents an iterative model predictive control algorithm that stabilizes constrained nonlinear systems without evaluating a single plant derivative. By factoring the exa…
Deterministic Non-Smooth Safety via Dual-Algebraic Control Barrier Functions
Mohammadreza Kamaldar
This paper presents a dual-algebraic framework for control barrier functions (CBFs) that guarantees deterministic execution using exclusively elementary arithmetic. We develop this…
Extracting Exact Lie Derivatives Without Backpropagation: A Dual Compiler for Neural Control Barrier Functions
Mohammadreza Kamaldar
A safety filter based on a neural control barrier function (CBF) deployed in an embedded control loop evaluates, at each control cycle, the trained network and its Lie derivatives…
Nonlinear Moving-Horizon Estimation Using State- and Control-Dependent Models
Mohammadreza Kamaldar
This paper presents a state- and control-dependent moving-horizon estimation (SCD-MHE) algorithm for nonlinear discrete-time systems. The nonlinear dynamics and measurement maps ar…
Composite Adaptive Control Barrier Functions for Safety-Critical Systems with Parametric Uncertainty
Mohammadreza Kamaldar
Control barrier functions guarantee safety but require accurate system models; parametric uncertainty invalidates these guarantees. Existing robust methods maintain safety via wors…
Adaptive Output-Feedback Model Predictive Control of Hammerstein Systems with Unknown Linear Dynamics
Mohammadreza Kamaldar, Dennis S. Bernstein
This paper considers model predictive control of Hammerstein systems, where the linear dynamics are a priori unknown and the input nonlinearity is known. Predictive cost adaptive c…
Output-Feedback Nonlinear Model Predictive Control with Iterative State- and Control-Dependent Coefficients
Mohammadreza Kamaldar, Dennis S. Bernstein
By optimizing the predicted performance over a receding horizon, model predictive control (MPC) provides the ability to enforce state and control constraints. The present paper con…
Multivariable Adaptive Harmonic Steady-State Control for Rejection of Sinusoidal Disturbances Acting on an Unknown System
Mohammadreza Kamaldar, Jesse B. Hoagg
This paper presents an adaptive harmonic steady-state (AHSS) controller, which addresses the problem of rejecting sinusoids with known frequencies that act on a completely unknown…