4 papers
Control of Uncertain PWA Systems using Difference-of-Convex Decompositions
Siddharth H. Nair, Yvonne R. Stürz
In this report, we analyze and design feedback policies for discrete-time Piecewise-Affine (PWA) systems with uncertainty in both the affine dynamics and the polytopic partition. T…
Safe Human-Robot Collaborative Transportation via Trust-Driven Role Adaptation
Tony Zheng, Monimoy Bujarbaruah, Yvonne R. Stürz +1
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoi…
Robust Data-Driven Predictive Control using Reachability Analysis
Amr Alanwar, Yvonne Stürz, Karl Henrik Johansson
We present a robust data-driven control scheme for an unknown linear system model with bounded process and measurement noise. Instead of depending on a system model in traditional…
Nonlinear Control of Quadcopters via Approximate Dynamic Programming
Angel Romero, Paul N. Beuchat, Yvonne R. Stürz +2
While Approximate Dynamic Programming has successfully been used in many applications involving discrete states and inputs such as playing the games of Tetris or chess, it has not…