18 citations · 20 across the 3 of their papers we have counts for
6 papers · 1 filter
Performance Analysis of Adaptive Dynamic Tube MPC
Savva Morozov, Parker C. Lusk, Brett T. Lopez +1
Model predictive control (MPC) is an effective method for control of constrained systems but is susceptible to the external disturbances and modeling error often encountered in rea…
Universal Adaptive Control of Nonlinear Systems
Brett T. Lopez, Jean-Jacques E. Slotine
This work develops a new direct adaptive control framework that extends the certainty equivalence principle to general nonlinear systems with unmatched model uncertainties. The app…
Robust Adaptive Control Barrier Functions: An Adaptive & Data-Driven Approach to Safety (Extended Version)
Brett T. Lopez, Jean-Jacques E. Slotine, Jonathan P. How
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online para…
Contraction Metrics in Adaptive Nonlinear Control
Brett T. Lopez, Jean-Jacques E. Slotine
Lyapunov stability theory is the bedrock of direct adaptive control. Fundamentally, Lyapunov stability requires constructing a distance-like function which must decrease with time…
Dynamic Landing of an Autonomous Quadrotor on a Moving Platform in Turbulent Wind Conditions
Aleix Paris, Brett T. Lopez, Jonathan P. How
Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and pr…
Dynamic Tube MPC for Nonlinear Systems
Brett T. Lopez, Jean-Jacques E. Slotine, Jonathan P. How
Modeling error or external disturbances can severely degrade the performance of Model Predictive Control (MPC) in real-world scenarios. Robust MPC (RMPC) addresses this limitation…