998 citations · 2.2k across the 70 of their papers we have counts for
81 papers
On the Degree of Safety: Beyond Safe or Unsafe with Control Barrier Functions
Ruoyu Lin, Fabio Pasqualetti, Magnus Egerstedt
A valid control barrier function (CBF) certifies if its represented safe set can be rendered forward invariant, and the sign of its value indicates whether a state is safe or not,…
Vibrational Stabilization of Cluster Synchronization in Oscillator Networks
Yuzhen Qin, Alberto Maria Nobili, Danielle S. Bassett +1
Cluster synchronization is of great importance for the normal functioning of numerous technological and natural systems. Deviations from normal cluster synchronization patterns are…
Controllable Neural Architectures for Multi-Task Control
Umberto Casti, Giacomo Baggio, Sandro Zampieri +1
This paper studies a multi-task control problem where multiple linear systems are to be regulated by a single non-linear controller. In particular, motivated by recent advances in…
Vibrational Control of Complex Networks
Yuzhen Qin, Fabio Pasqualetti, Danielle S. Bassett +1
The stability of complex networks, from power grids to biological systems, is crucial for their proper functioning. It is thus important to control such systems to maintain or rest…
Analytical Characterization of Epileptic Dynamics in a Bistable System
Yuzhen Qin, Ahmed El-Gazzar, Danielle S. Bassett +2
Epilepsy is one of the most common neurological disorders globally, affecting millions of individuals. Despite significant advancements, the precise mechanisms underlying this cond…
Vibrational Stabilization of Cluster Synchronization in Oscillator Networks
Yuzhen Qin, Alberto Maria Nobili, Danielle S. Bassett +1
Cluster synchronization is of paramount importance for the normal functioning of numerous technological and natural systems. Deviations from normal cluster synchronization patterns…
Feedback linearization through the lens of data
C. De Persis, D. Gadginmath, F. Pasqualetti +1
Controlling nonlinear systems, especially when data are being used to offset uncertainties in the model, is hard. A natural approach when dealing with the challenges of nonlinear c…
Vibrational Stabilization of Complex Network Systems
Alberto Maria Nobili, Yuzhen Qin, Carlo Alberto Avizzano +2
Many natural and man-made network systems need to maintain certain patterns, such as working at equilibria or limit cycles, to function properly. Thus, the ability to stabilize suc…
Learning on Manifolds: Universal Approximations Properties using Geometric Controllability Conditions for Neural ODEs
Karthik Elamvazhuthi, Xuechen Zhang, Samet Oymak +1
In numerous robotics and mechanical engineering applications, among others, data is often constrained on smooth manifolds due to the presence of rotational degrees of freedom. Comm…
Model-based and Data-based Dynamic Output Feedback for Externally Positive Systems
Abed AlRahman Al Makdah, Fabio Pasqualetti
In this work, we derive dynamic output-feedback controllers that render the closed-loop system externally positive. We begin by expressing the class of discrete-time, linear, time-…
On the Sample Complexity of the Linear Quadratic Gaussian Regulator
Abed AlRahman Al Makdah, Fabio Pasqualetti
In this paper we provide direct data-driven expressions for the Linear Quadratic Regulator (LQR), the Kalman filter, and the Linear Quadratic Gaussian (LQG) controller using a fini…
Data-driven Eigenstructure Assignment for Sparse Feedback Design
Federico Celi, Giacomo Baggio, Fabio Pasqualetti
This paper presents a novel approach for solving the pole placement and eigenstructure assignment problems through data-driven methods. By using open-loop data alone, the paper sho…
Imitation and Transfer Learning for LQG Control
Taosha Guo, Abed AlRahman Al Makdah, Vishaal Krishnan +1
In this paper we study an imitation and transfer learning setting for Linear Quadratic Gaussian (LQG) control, where (i) the system dynamics, noise statistics and cost function are…
Stochastic Contextual Bandits with Long Horizon Rewards
Yuzhen Qin, Yingcong Li, Fabio Pasqualetti +2
The growing interest in complex decision-making and language modeling problems highlights the importance of sample-efficient learning over very long horizons. This work takes a ste…
Multi-Task System Identification of Similar Linear Time-Invariant Dynamical Systems
Yiting Chen, Ana M. Ospina, Fabio Pasqualetti +1
This paper presents a system identification framework -- inspired by multi-task learning -- to estimate the dynamics of a given number of linear time-invariant (LTI) systems jointl…
Data-Driven Feedback Linearization using the Koopman Generator
Darshan Gadginmath, Vishaal Krishnan, Fabio Pasqualetti
This paper contributes a theoretical framework for data-driven feedback linearization of nonlinear control-affine systems. We unify the traditional geometric perspective on feedbac…
Direct vs Indirect Methods for Behavior-based Attack Detection
Darshan Gadginmath, Vishaal Krishnan, Fabio Pasqualetti
We study the problem of data-driven attack detection for unknown LTI systems using only input-output behavioral data. In contrast with model-based detectors that use errors from an…
Representation Learning for Context-Dependent Decision-Making
Yuzhen Qin, Tommaso Menara, Samet Oymak +2
Humans are capable of adjusting to changing environments flexibly and quickly. Empirical evidence has revealed that representation learning plays a crucial role in endowing humans…
Vibrational Control of Cluster Synchronization: Connections with Deep Brain Stimulation
Yuzhen Qin, Danielle S. Bassett, Fabio Pasqualetti
Cluster synchronization underlies various functions in the brain. Abnormal patterns of cluster synchronization are often associated with neurological disorders. Deep brain stimulat…
Behavioral Feedback for Optimal LQG Control
Abed AlRahman Al Makdah, Vishaal Krishnan, Vaibhav Katewa +1
In this work, we revisit the Linear Quadratic Gaussian (LQG) optimal control problem from a behavioral perspective. Motivated by the suitability of behavioral models for data-drive…
Data-driven Meets Geometric Control: Zero Dynamics, Subspace Stabilization, and Malicious Attacks
Federico Celi, Fabio Pasqualetti
Studying structural properties of linear dynamical systems through invariant subspaces is one of the key contributions of the geometric approach to system theory. In general, a mod…
Non-Stationary Representation Learning in Sequential Linear Bandits
Yuzhen Qin, Tommaso Menara, Samet Oymak +2
In this paper, we study representation learning for multi-task decision-making in non-stationary environments. We consider the framework of sequential linear bandits, where the age…
Parameter Conditions to Prevent Voltage Oscillations Caused by LTC-Inverter Hunting on Power Distribution Grids
Jaimie Swartz, Federico Celi, Fabio Pasqualetti +1
As more distributed energy resources (DERs) are connected to the power grid, it becomes increasingly important to ensure safe and effective coordination between legacy voltage regu…
On Direct vs Indirect Data-Driven Predictive Control
Vishaal Krishnan, Fabio Pasqualetti
In this work, we compare the direct and indirect approaches to data-driven predictive control of stochastic linear time-invariant systems. The distinction between the two approache…