6 papers
Control contraction metrics on Lie groups
Dongjun Wu, Bowen Yi, Ian R. Manchester
In this paper, we extend the control contraction metrics (CCM) approach, which was originally proposed for the universal tracking control of nonlinear systems, to those that evolve…
Structured linear quadratic control computations over 2D grids
Armaghan Zafar, Ian R. Manchester
In this paper, we present a structured solver based on the preconditioned conjugate gradient method (PCGM) for solving the linear quadratic (LQ) optimal control problem for $K \tim…
Sparse Resource Allocation for Spreading Processes on Temporal-Switching Networks
Vera L. J. Somers, Ian R. Manchester
Spreading processes, e.g. epidemics, wildfires and rumors, are often modeled on static networks. However, their underlying network structures, e.g. changing contacts in social netw…
Attitude estimation from vector measurements: Necessary and sufficient conditions and convergent observer design
Bowen Yi, Lei Wang, Ian R. Manchester
The paper addresses the problem of attitude estimation for rigid bodies using (possibly time-varying) vector measurements, for which we provide a necessary and sufficient condition…
Youla-REN: Learning Nonlinear Feedback Policies with Robust Stability Guarantees
Ruigang Wang, Ian R. Manchester
This paper presents a parameterization of nonlinear controllers for uncertain systems building on a recently developed neural network architecture, called the recurrent equilibrium…
Globally convergent visual-feature range estimation with biased inertial measurements
Bowen Yi, Chi Jin, Ian R. Manchester
The design of a globally convergent position observer for feature points from visual information is a challenging problem, especially for the case with only inertial measurements a…