4 citations · 6 across the 5 of their papers we have counts for
5 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…
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…