31 citations · 156 across the 68 of their papers we have counts for
6 papers · 2 filters
Machine Learning Accelerated PDE Backstepping Observers
Yuanyuan Shi, Zongyi Li, Huan Yu +3
State estimation is important for a variety of tasks, from forecasting to substituting for unmeasured states in feedback controllers. Performing real-time state estimation for PDEs…
Underactuated Source Seeking by Surge Force Tuning: Theory and Boat Experiments
Bo Wang, Sergey Nersesov, Hashem Ashrafiuon +2
We extend source seeking algorithms, in the absence of position and velocity measurements, and with tuning of the surge input, from velocity-actuated (unicycle) kinematic models to…
Simultaneous Lane-Keeping and Obstacle Avoidance by Combining Model Predictive Control and Control Barrier Functions
Sven Brüggemann, Drew Steeves, Miroslav Krstic
In this work, we combine {Model Predictive Control} (MPC) and Control Barrier Function (CBF) design {methods} to create a hierarchical control law for simultaneous lane-keeping (LK…
Practical Prescribed-Time Seeking of a Repulsive Source by Unicycle Angular Velocity Tuning
Velimir Todorovski, Miroslav Krstic
All the existing source-seeking algorithms for unicycle models in GPS-denied settings guarantee at best an exponential rate of convergence over an infinite interval. Using the rece…
Finite- and Fixed-Time Nonovershooting Stabilizers and Safety Filters by Homogeneous Feedback
Andrey Polyakov, Miroslav Krstic
Non-overshooting stabilization is a form of safe control where the setpoint chosen by the user is at the boundary of the safe set. Exponential non-overshooting stabilization, inclu…
Prescribed-Time Safety Design for a Chain of Integrators
Imoleayo Abel, Drew Steeves, Miroslav Krstic +1
Safety in dynamical systems is commonly pursued using control barrier functions (CBFs) which enforce safety-constraints over the entire duration of a system's evolution. We propose…