10 citations · 32 across the 18 of their papers we have counts for
11 papers · 1 filter
Integral Control Barrier Functions for Dynamically Defined Control Laws
Aaron D. Ames, Gennaro Notomista, Yorai Wardi +1
This paper introduces integral control barrier functions (I-CBFs) as a means to enable the safety-critical integral control of nonlinear systems. Importantly, I-CBFs allow for the…
Tracking Control by the Newton-Raphson Method with Output Prediction and Controller Speedup
Yorai Wardi, Carla Seatzu, Jorge Cortes +3
This paper presents a control technique for output tracking of reference signals in continuous-time dynamical systems. The technique is comprised of the following three elements: (…
Performance Regulation and Tracking via Lookahead Simulation: Preliminary Results and Validation
Y. Wardi, C. Seatzu, M. Egerstedt +1
This paper presents an approach to target tracking that is based on a variable-gain integrator and the Newton-Raphson method for finding zeros of a function. Its underscoring idea…
Hamiltonian-based Algorithm for Relaxed Optimal Control
Yorai Wardi, Magnus Egerstedt, Muhammad Umer Qureshi
This paper concerns a first-order algorithmic technique for a class of optimal control problems defined on switched-mode hybrid systems. The salient feature of the algorithm is tha…
IPA in the Loop: Control Design for Throughput Regulation in Computer Processors
Xinwei Chen, Yorai Wardi, Sudhakar Yalamanchili
A new technique for performance regulation in event-driven systems, recently proposed by the authors, consists of an adaptive-gain integral control. The gain is adjusted in the con…
Motion and Communication Co-optimization with Path Planning and Online Channel Estimation
Usman Ali, Hong Cai, Yasamin Mostofi +1
This paper considers the problem of optimally balancing motion energy and communication transmission energy of a mobile robot tasked with transmitting a given number of data bits t…
Performance Regulation of Event-Driven Dynamical Systems Using Infinitesimal Perturbation Analysis
Yorai Wardi, Carla Seatzu, Xinwei Chen +1
This paper presents a performance-regulation method for a class of stochastic timed event-driven systems aimed at output tracking of a given reference setpoint. The systems are eit…
Congestion management in traffic-light intersections via Infinitesimal Perturbation Analysis
Carla Seatzu, Yorai Wardi
We present a flow-control technique in traffic-light intersections, aiming at regulating queue lengths to given reference setpoints. The technique is based on multivariable integra…
Temperature Regulation in Multicore Processors Using Adjustable-Gain Integral Controllers
Karthik Rao, William Song, Sudhakar Yalamanchili +1
This paper considers the problem of temperature regulation in multicore processors by dynamic voltage-frequency scaling. We propose a feedback law that is based on an integral cont…
Infinitesimal Perturbation Analysis of Stochastic Hybrid Systems: Application to Congestion Management in Traffic-Light Intersections
Yorai Wardi, Carla Seatzu
This paper presents a new approach to congestion management at traffic-light intersections. The approach is based on controlling the relative lengths of red/green cycles in order t…
Approximate IPA: Trading Unbiasedness for Simplicity
Yorai Wardi, Christos G. Cassandras
When Perturbation Analysis (PA) yields unbiased sensitivity estimators for expected-value performance functions in discrete event dynamic systems, it can be used for performance op…