4 papers
Barrier-Riccati Synthesis for Nonlinear Safe Control with Expanded Region of Attraction
Hassan Almubarak, Maitham F. AL-Sunni, Justin T. Dubbin +3
We present a Riccati-based framework for safety-critical nonlinear control that integrates the barrier states (BaS) methodology with the State-Dependent Riccati Equation (SDRE) app…
Transformers As Generalizable Optimal Controllers
Turki Bin Mohaya, Maitham F. AL-Sunni, John M. Dolan +1
We study whether optimal state-feedback laws for a family of heterogeneous Multiple-Input, Multiple-Output (MIMO) Linear Time-Invariant (LTI) systems can be captured by a single le…
LLA-MPC: Fast Adaptive Control for Autonomous Racing
Maitham F. AL-Sunni, Hassan Almubarak, Katherine Horng +1
We present Look-Back and Look-Ahead Adaptive Model Predictive Control (LLA-MPC), a real-time adaptive control framework for autonomous racing that addresses the challenge of rapidl…
Safety Embedded Adaptive Control Using Barrier States
Maitham F. AL-Sunni, Hassan Almubarak, John M. Dolan
In this work, we explore the application of barrier states (BaS) in the realm of safe nonlinear adaptive control. Our proposed framework derives barrier states for systems with par…