4 papers
Output-Lifted Learning Model Predictive Control
Siddharth H. Nair, Ugo Rosolia, Francesco Borrelli
We propose a computationally efficient Learning Model Predictive Control (LMPC) scheme for constrained optimal control of a class of nonlinear systems where the state and input can…
Modeling of Dynamical Systems via Successive Graph Approximations
Siddharth H. Nair, Monimoy Bujarbaruah, Francesco Borrelli
In this work, we propose a non-parametric technique for online modeling of systems with unknown nonlinear Lipschitz dynamics. The key idea is to successively utilize measurements t…
A Semi-Definite Programming Approach to Robust Adaptive MPC under State Dependent Uncertainty
Monimoy Bujarbaruah, Siddharth H. Nair, Francesco Borrelli
We propose an Adaptive MPC framework for uncertain linear systems to achieve robust satisfaction of state and input constraints. The uncertainty in the system is assumed additive,…
Hilbert's Space-filling Curve for Regions with Holes
Siddharth H. Nair, Arpita Sinha, Leena Vachhani
The paper presents a systematic strategy for implementing Hilbert's space filling curve for use in online exploration tasks and addresses its application in scenarios wherein the s…