110 citations · 337 across the 24 of their papers we have counts for
9 papers · 1 filter
On Dynamic Mode Decomposition of Control-affine Systems
Moad Abudia, Joel A. Rosenfeld, Rushikesh Kamalapurkar
This paper builds on the theoretical foundations for dynamic mode decomposition (DMD) of control-affine dynamical systems by leveraging the theory of vector-valued reproducing kern…
On Convergent Dynamic Mode Decomposition and its Equivalence with Occupation Kernel Regression
Moad Abudia, Joel A. Rosenfeld, Rushikesh Kamalapurkar
This paper presents a new technique for norm-convergent dynamic mode decomposition of deterministic systems. The developed method utilizes recent results on singular dynamic mode d…
Carleman Lifting for Nonlinear System Identification with Guaranteed Error Bounds
Moad Abudia, Joel A. Rosenfeld, Rushikesh Kamalapurkar
This paper concerns identification of uncontrolled or closed loop nonlinear systems using a set of trajectories that are generated by the system in a domain of attraction. The obje…
Singular Dynamic Mode Decompositions
Joel A. Rosenfeld, Rushikesh Kamalapurkar
This manuscript is aimed at addressing several long standing limitations of dynamic mode decompositions in the application of Koopman analysis. Principle among these limitations ar…
Reachable Set Estimation and Safety Verification for Piecewise Linear Systems with Neural Network Controllers
Weiming Xiang, Hoang-Dung Tran, Joel A. Rosenfeld +1
In this work, the reachable set estimation and safety verification problems for a class of piecewise linear systems equipped with neural network controllers are addressed. The neur…
Invariance-like results for Nonautonomous Switched Systems
Rushikesh Kamalapurkar, Joel A. Rosenfeld, Anup Parikh +2
This paper generalizes the Lasalle-Yoshizawa Theorem to switched nonsmooth systems. Filippov and Krasovskii regularizations of a switched system are shown to be contained within th…
Efficient model-based reinforcement learning for approximate online optimal
Rushikesh Kamalapurkar, Joel A. Rosenfeld, Warren E. Dixon
In this paper the infinite horizon optimal regulation problem is solved online for a deterministic control-affine nonlinear dynamical system using the state following (StaF) kernel…
Decentralized formation control with connectivity maintenance and collision avoidance under limited and intermittent sensing
Teng-Hu Cheng, Zhen Kan, Joel A. Rosenfeld +1
A decentralized switched controller is developed for dynamic agents to perform global formation configuration convergence while maintaining network connectivity and avoiding collis…
Supporting Lemmas for RISE-based Control Methods
Rushikesh Kamalapurkar, Joel A. Rosenfeld, Justin Klotz +2
A class of continuous controllers termed Robust Integral of the Signum of the Error (RISE) have been published over the last decade as a means to yield asymptotic convergence of th…