7 citations · 13 across the 15 of their papers we have counts for
10 papers · 1 filter
Multi-Objective Learning Model Predictive Control
Siddharth H. Nair, Charlott Vallon, Francesco Borrelli
Multi-Objective Learning Model Predictive Control is a novel data-driven control scheme which improves a linear system's closed-loop performance with respect to several convex cont…
Learning for Online Mixed-Integer Model Predictive Control with Parametric Optimality Certificates
Luigi Russo, Siddharth H. Nair, Luigi Glielmo +1
We propose a supervised learning framework for computing solutions of multi-parametric Mixed Integer Linear Programs (MILPs) that arise in Model Predictive Control. Our approach al…
Robust Output-Lifted Learning Model Predictive Control
Siddharth H. Nair, Francesco Borrelli
We propose an iterative approach for designing Robust Learning Model Predictive Control (LMPC) policies for a class of nonlinear systems with additive, unmodelled dynamics. The nom…
Stochastic MPC with Dual Control for Autonomous Driving with Multi-Modal Interaction-Aware Predictions
Siddharth H. Nair, Vijay Govindarajan, Theresa Lin +3
We propose a Stochastic MPC (SMPC) approach for autonomous driving which incorporates multi-modal, interaction-aware predictions of surrounding vehicles. For each mode, vehicle mot…
Stochastic MPC with Multi-modal Predictions for Traffic Intersections
Siddharth H. Nair, Vijay Govindarajan, Theresa Lin +3
We propose a Stochastic MPC (SMPC) formulation for autonomous driving at traffic intersections which incorporates multi-modal predictions of surrounding vehicles for collision avoi…
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,…
Discrete Optimal Control of Interconnected Mechanical Systems
Siddharth H. Nair, Ravi N. Banavar
This article develops variational integrators for a class of underactuated mechanical systems using the theory of discrete mechanics. Further, a discrete optimal control problem is…
Attitude Control of Spacecraft Formations Subject To Distributed Communication Delays
Siddharth H. Nair, Kamesh Subbarao
This paper considers the problem of achieving attitude consensus in spacecraft formations with bounded, time-varying communication delays between spacecraft connected as specified…
Control Synthesis for an Underactuated Cable Suspended System Using Dynamic Decoupling
Siddharth H. Nair, Ravi N. Banavar, D. H. S. Maithripala
This article studies the dynamics and control of a novel underactuated system, wherein a plate suspended by cables and with a freely moving mass on top, whose other ends are attach…