37 citations · 151 across the 85 of their papers we have counts for
4 papers · 2 filters
Ignore Drift, Embrace Simplicity: Constrained Nonlinear Control through Driftless Approximation
Ram Padmanabhan, Melkior Ornik
We present a novel technique to drive a nonlinear system to reach a target state under input constraints. The proposed controller consists only of piecewise constant inputs, genera…
Conformal Contraction for Robust Nonlinear Control with Distribution-Free Uncertainty Quantification
Sihang Wei, Melkior Ornik, Hiroyasu Tsukamoto
We present a novel robust control framework for continuous-time, perturbed nonlinear dynamical systems with uncertainty that depends nonlinearly on both the state and control input…
Mode-Prefix-Based Control of Switched Linear Systems with Applications to Fault Tolerance
Ram Padmanabhan, Antoine Aspeel, Necmiye Ozay +1
In this paper, we consider the problem of designing prefix-based optimal controllers for switched linear systems over finite horizons. This problem arises in fault-tolerant control…
Approximate Energetic Resilience of Nonlinear Systems under Partial Loss of Control Authority
Ram Padmanabhan, Melkior Ornik
In this paper, we quantify the resilience of nonlinear dynamical systems by studying the increased energy used by all inputs of a system that suffers a partial loss of control auth…