6 papers
On ANN-enhanced positive invariance for nonlinear flat systems
Huu-Thinh Do, Ionela Prodan
The concept of positively invariant (PI) sets has proven effective in the formal verification of stability and safety properties for autonomous systems. However, the characterizati…
On maximal positive invariant set computation for rank-deficient linear systems
Bogdan Gheorghe, Daniel Ioan, Cristian Flutur +2
The maximal positively invariant (MPI) set is obtained through a backward reachability procedure involving the iterative computation and intersection of predecessor sets under stat…
Safe Navigation in Cluttered Environments Via Spline-Based Harmonic Potential Fields
Theodor-Gabriel Nicu, Florin Stoican, Daniel-Mihail Ioan +1
We provide a complete motion-planning mechanism that ensures target tracking and obstacle avoidance in a cluttered environment. For a given polyhedral decomposition of the feasible…
Tight displacement-based formation control under bounded disturbances. A set-theoretic perspective
Vlad-Matei AngheluÅ£Ä, Bogdan Gheorghe, Daniel Ioan +2
This paper investigates the synthesis of controllers for displacement-based formation control in the presence of bounded disturbances, specifically focusing on uncertainties origin…
An ANN-Enhanced Approach for Flatness-Based Constrained Control of Nonlinear Systems
Huu-Thinh Do, Ionela Prodan, Florin Stoican
Neural networks have proven practical for a synergistic combination of advanced control techniques. This work analyzes the implementation of rectified linear unit neural networks t…
Reducing real-time complexity via sub-control Lyapunov functions: from theory to experiments
Huu-Thinh Do, Franco Blanchini, Stefano Miani +1
The techniques to design control Lyapunov functions (CLF), along with a proper stabilizing feedback, possibly in the presence of constraints, often provide control laws that are to…