89 citations · 243 across the 47 of their papers we have counts for
12 papers · 1 filter
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…