89 citations · 243 across the 47 of their papers we have counts for
50 papers
Robust Hybrid Finite-Time Parameter Estimation Without Persistence of Excitation
Adnane Saoud, Ryan S. Johnson, Ricardo G. Sanfelice
In this paper, we consider the problem of estimating parameters of a linear regression model. Using a hybrid systems framework, a hybrid algorithm is proposed allowing the estimate…
Autonomous Satellite Rendezvous via Hybrid Feedback Optimization
Oscar Jed R. Chuy, Matthew T. Hale, Vignesh Sivaramakrishnan +2
As satellites have proliferated, interest has increased in autonomous rendezvous, proximity operations, and docking (ARPOD). A fundamental challenge in these tasks is the uncertain…
HyRRT-Connect: Bidirectional Motion Planning for Hybrid Dynamical Systems
Nan Wang, Ricardo G. Sanfelice
This paper proposes a bidirectional rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. The proposed algorithm, called HyRRT-Con…
A Safe Hybrid Control Framework for Car-like Robot with Guaranteed Global Path-Invariance using a Control Barrier Function
Nan Wang, Adeel Akhtar, Ricardo G. Sanfelice
This work proposes a hybrid framework for car-like robots with obstacle avoidance, global convergence, and safety, where safety is interpreted as path invariance, namely, once the…
Distributed Nonconvex Optimization with Exponential Convergence Rate via Hybrid Systems Methods
Katherine R. Hendrickson, Dawn M. Hustig-Schultz, Matthew T. Hale +1
We present a hybrid systems framework for distributed multi-agent optimization in which agents execute computations in continuous time and communicate in discrete time. The optimiz…
Two-Player Zero-Sum Hybrid Games
Santiago J. Leudo, Ricardo G. Sanfelice
In this paper, we formulate a two-player zero-sum game under dynamic constraints defined by hybrid dynamical equations. The game consists of a min-max problem involving a cost func…
Motion Planning for Hybrid Dynamical Systems: Framework, Algorithm Template, and a Sampling-based Approach
Nan Wang, Ricardo G. Sanfelice
This paper focuses on the motion planning problem for the systems exhibiting both continuous and discrete behaviors, which we refer to as hybrid dynamical systems. Firstly, the mot…
HyRRT-Connect: A Bidirectional Rapidly-Exploring Random Trees Motion Planning Algorithm for Hybrid Systems
Nan Wang, Ricardo G. Sanfelice
This paper proposes a bidirectional rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. The proposed algorithm, called HyRRT-Con…
Robust Parameter Estimation for Hybrid Dynamical Systems
Ryan S. Johnson, Stefano Di Cairano, Ricardo G. Sanfelice
We consider the problem of estimating a vector of unknown constant parameters for a class of hybrid dynamical systems -- that is, systems whose state variables exhibit both continu…
HySST: A Stable Sparse Rapidly-Exploring Random Trees Optimal Motion Planning Algorithm for Hybrid Dynamical Systems
Nan Wang, Ricardo G. Sanfelice
This paper proposes a stable sparse rapidly-exploring random trees (SST) algorithm to solve the optimal motion planning problem for hybrid systems. At each iteration, the proposed…
An Observer-based Switching Algorithm for Safety under Sensor Denial-of-Service Attacks
Santiago Jimenez Leudo, Kunal Garg, Ricardo G. Sanfelice +1
The design of safe-critical control algorithms for systems under Denial-of-Service (DoS) attacks on the system output is studied in this work. We aim to address scenarios where att…
Hybrid Persistency of Excitation in Adaptive Estimation for Hybrid Systems
Adnane Saoud, Mohamed Maghenem, Antonio Loría +1
We propose a framework to analyze stability for a class of linear non-autonomous hybrid systems, where the continuous evolution of solutions is governed by an ordinary differential…
robust synergistic hybrid feedback
Pedro Casau, Ricardo G. Sanfelice, Carlos Silvestre
Synergistic hybrid feedback refers to a collection of feedback laws that allow for global asymptotic stabilization of a compact set through the following switching logic: given a c…
Optimal Safety for Constrained Differential Inclusions using Nonsmooth Control Barrier Functions
Masoumeh Ghanbarpour, Axton Isaly, Ricardo G. Sanfelice +1
For a broad class of nonlinear systems, we formulate the problem of guaranteeing safety with optimality under constraints. Specifically, we define controlled safety for differentia…
A Rapidly-Exploring Random Trees Motion Planning Algorithm for Hybrid Dynamical Systems
Nan Wang, Ricardo G. Sanfelice
This paper proposes a rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. At each iteration, the proposed algorithm, called HyRR…
Control Design under Actuator Saturation and Multi-Rate Sampling
Francesco Ferrante, Ricardo G. Sanfelice, Sophie Tarbouriech
The problem of designing a stabilizing feedback controller in the presence of saturating actuators and multi-rate (asynchronous) aperiodic state measurements is studied. Specifical…
An Adaptive Hybrid Control Algorithm for Sender-Receiver Clock Synchronization
Marcello Guarro, Ricardo G. Sanfelice
This paper presents an innovative hybrid systems approach to the sender-receiver synchronization of timers. Via the hybrid systems framework, we unite the traditional sender-receiv…
Robust Output Feedback Control Design in the Presence of Sporadic Measurements
Roberto Merco, Francesco Ferrante, Ricardo G. Sanfelice +1
Output feedback control design for linear time-invariant systems in the presence of sporadic measurements and exogenous perturbations is addressed. To cope with the sporadic availa…
Notions, Stability, Existence, and Robustness of Limit Cycles in Hybrid Dynamical Systems
Xuyang Lou, Yuchun Li, Ricardo G. Sanfelice
This paper deals with existence and robust stability of hybrid limit cycles for a class of hybrid systems given by the combination of continuous dynamics on a flow set and discrete…
Control Barrier Function based Attack-Recovery with Provable Guarantees
Kunal Garg, Ricardo G. Sanfelice, Alvaro A. Cardenas
This paper studies provable security guarantees for cyber-physical systems (CPS) under actuator attacks. In particular, we consider CPS safety and propose a new attack detection me…
Hysteresis-Based RL: Robustifying Reinforcement Learning-based Control Policies via Hybrid Control
Jan de Priester, Ricardo G. Sanfelice, Nathan van de Wouw
Reinforcement learning (RL) is a promising approach for deriving control policies for complex systems. As we show in two control problems, the derived policies from using the Proxi…
Uniting Nesterov and Heavy Ball Methods for Uniform Global Asymptotic Stability of the Set of Minimizers
Dawn M. Hustig-Schultz, Ricardo G. Sanfelice
We propose a hybrid control algorithm that guarantees fast convergence and uniform global asymptotic stability of the unique minimizer of a continuously differentiable, convex obje…
Necessary and Sufficient Conditions for the Nonincrease of Scalar Functions Along Solutions to Constrained Differential Inclusions
Mohamed Maghenem, Alessandro Melis, Ricardo G. Sanfelice
In this paper, we propose necessary and sufficient conditions for a scalar function to be nonincreasing along solutions to general differential inclusions with state constraints. T…
On the Converse Safety Problem for Differential Inclusions: Solutions, Regularity, and Time-Varying Barrier Functions
Mohamed Maghenem, Ricardo. G. Sanfelice
This paper presents converse theorems for safety in terms of barrier functions for unconstrained continuous-time systems modeled as differential inclusions. Via a counterexample, w…