274 citations · 905 across the 61 of their papers we have counts for
67 papers
Joint Observer-Based Output-Feedback Robust Guidance and Control Funnel Synthesis
Cheng Chang, Shiva Shakeri, Mehran Mesbahi
A joint guidance and robust observer-based output-feedback synthesis framework is developed for discrete-time nonlinear systems subject to bounded process disturbances and measurem…
Unifying Variational View of Accelerated Primal-Dual Methods
Cheng Chang, Mehran Mesbahi
We develop a unifying variational framework for accelerated primal-dual flows in affinely constrained convex optimization. In particular, it is shown that applying the Euler-Lagran…
Dynamic Modeling and Parameter Estimation for Origami Structure Reconfiguration Process
Yuto Tanaka, Ran Dai, Mehran Mesbahi
The reconfiguration of origami during the folding and unfolding process is governed through a sequence of panel deformations and hinge orientations. To develop an effective model f…
Intrinsic Successive Convexification: Trajectory Optimization on Smooth Manifolds
Spencer Kraisler, Mehran Mesbahi, Behcet Acikmese
A fundamental issue at the core of trajectory optimization on smooth manifolds is handling the implicit manifold constraint within the dynamics. The conventional approach is to enf…
Policy Optimization in Control: Geometry and Algorithmic Implications
Shahriar Talebi, Yang Zheng, Spencer Kraisler +2
This survey explores the geometric perspective on policy optimization within the realm of feedback control systems, emphasizing the intrinsic relationship between control design an…
Output-feedback Synthesis Orbit Geometry: Quotient Manifolds and LQG Direct Policy Optimization
Spencer Kraisler, Mehran Mesbahi
We consider direct policy optimization for the linear-quadratic Gaussian (LQG) setting. Over the past few years, it has been recognized that the landscape of dynamic output-feedbac…