89 citations · 243 across the 47 of their papers we have counts for
20 papers · 1 filter
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…
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…
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…
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…
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…
Regularity of Optimal Solutions and the Optimal Cost for Hybrid Dynamical Systems via Reachability Analysis
Berk Altın, Ricardo G. Sanfelice
For a general optimal control problem for dynamical systems with hybrid dynamics, we study the dependency of the optimal cost and of the value function on the initial conditions, p…
HyNTP: A Distributed Hybrid Algorithm for Time Synchronization
Marcello Guarro, Ricardo G. Sanfelice
This paper presents a distributed hybrid algorithm that synchronizes the time and rate of a set of clocks connected over a network. Clock measurements of the nodes are given at ape…
Exponentially Converging Distributed Gradient Descent with Intermittent Communication via Hybrid Methods
Katherine Hendrickson, Dawn Hustig-Schultz, Matthew Hale +1
We present a hybrid systems framework for multi-agent optimization in which agents execute computations in continuous time and communicate in discrete time. The optimization algori…
Solutions and Reachable Sets of Hybrid Dynamical Systems: Semicontinuous Dependence on Initial Conditions, Time, and Perturbations
Berk Altın, Ricardo G. Sanfelice
The sequential compactness afforded hybrid systems under mild regularity constraints guarantee outer/upper semicontinuous dependence of solutions on initial conditions and perturba…
CLF-Based Control for Hybrid Dynamical Systems
Ricardo Sanfelice
Pointwise minimum norm control laws for hybrid dynamical systems are proposed. Hybrid systems are given by differential equations capturing the continuous dynamics or flows, and by…
Further results on synergistic Lyapunov functions and hybrid feedback design through backstepping
Christopher G. Mayhew, Ricardo G. Sanfelice, Andrew R. Teel
We extend results on backstepping hybrid feedbacks by exploiting synergistic Lyapunov function and feedback (SLFF) pairs in a generalized form. Compared to existing results, we del…
Sufficient conditions for forward invariance and contractivity in hybrid inclusions using barrier functions
Mohamed Maghenem, Ricardo G. Sanfelice
This paper studies set invariance and contractivity in hybrid systems modeled by hybrid inclusions using barrier functions. After introducing the notion of a multiple barrier funct…
A unifying convex analysis and switching system approach to consensus with undirected communication graphs
Rafal Goebel, Ricardo Sanfelice
Switching between finitely many continuous-time autonomous steepest descent dynamics for convex functions is considered. Convergence of complete solutions to common minimizers of t…
Convergence of Nonlinear Observers on R^n with a Riemannian Metric (Part II)
Ricardo G. Sanfelice, Laurent Praly
In [1], it is established that a convergent observer with an infinite gain margin can be designed for a given nonlinear system when a Riemannian metric showing that the system is d…
Interconnected Observers for Robust Decentralized Estimation with Performance Guarantees and Optimized Connectivity Graph
Yuchun Li, Ricardo G. Sanfelice
Motivated by the need of observers that are both robust to disturbances and guarantee fast convergence to zero of the estimation error, we propose an observer for linear time-invar…
Convergence of Nonlinear Observers on R^n with a Riemannian Metric (Part I)
Ricardo G. Sanfelice, Laurent Praly
We study how convergence of an observer whose state lives in a copy of the given system's space can be established using a Riemannian metric. We show that the existence of an obser…
On Minimum-time Paths of Bounded Curvature with Position-dependent Constraints
Ricardo G. Sanfelice, Sze Zheng Yong, Emilio Frazzoli
We consider the problem of a particle traveling from an initial configuration to a final configuration (given by a point in the plane along with a prescribed velocity vector) in mi…