290 citations · 1.5k across the 41 of their papers we have counts for
12 papers · 1 filter
Learning-based methods to model small body gravity fields for proximity operations: Safety and Robustness
Daniel Neamati, Yashwanth Kumar Nakka, Soon-Jo Chung
Accurate gravity field models are essential for safe proximity operations around small bodies. State-of-the-art techniques use spherical harmonics or high-fidelity polyhedron shape…
A Theoretical Overview of Neural Contraction Metrics for Learning-based Control with Guaranteed Stability
Hiroyasu Tsukamoto, Soon-Jo Chung, Jean-Jacques Slotine +1
This paper presents a theoretical overview of a Neural Contraction Metric (NCM): a neural network model of an optimal contraction metric and corresponding differential Lyapunov fun…
Contraction Theory for Nonlinear Stability Analysis and Learning-based Control: A Tutorial Overview
Hiroyasu Tsukamoto, Soon-Jo Chung, Jean-Jacques E. Slotine
Contraction theory is an analytical tool to study differential dynamics of a non-autonomous (i.e., time-varying) nonlinear system under a contraction metric defined with a uniforml…
A Two-Part Controller Synthesis Approach for Nonlinear Stochastic Systems Perturbed by Lévy Noise Using Renewal Theory and HJB-Based Impulse Control
SooJean Han, Soon-Jo Chung
We are motivated by the lack of discussion surrounding methodological control design procedures for nonlinear shot and Lévy noise stochastic systems to propose a hierarchical contr…
Meta-Adaptive Nonlinear Control: Theory and Algorithms
Guanya Shi, Kamyar Azizzadenesheli, Michael O'Connell +2
We present an online multi-task learning approach for adaptive nonlinear control, which we call Online Meta-Adaptive Control (OMAC). The goal is to control a nonlinear system subje…
Trajectory Optimization of Chance-Constrained Nonlinear Stochastic Systems for Motion Planning Under Uncertainty
Yashwanth Kumar Nakka, Soon-Jo Chung
We present gPC-SCP: Generalized Polynomial Chaos-based Sequential Convex Programming to compute a sub-optimal solution for a continuous-time chance-constrained stochastic nonlinear…