Zobrazeno 1 - 10
of 52
pro vyhledávání: '"Pangborn, Herschel"'
Uncrewed aerial systems have tightly coupled energy and motion dynamics which must be accounted for by onboard planning algorithms. This work proposes a strategy for coupled motion and energy planning using model predictive control (MPC). A reduced-o
Externí odkaz:
http://arxiv.org/abs/2411.03189
Autonomous vehicle (AV) motion planning problems often involve non-convex constraints, which present a major barrier to applying model predictive control (MPC) in real time on embedded hardware. This paper presents an approach for efficiently solving
Externí odkaz:
http://arxiv.org/abs/2411.01286
This paper presents a sequence of two approaches for the data-driven control-oriented modeling of networked systems, i.e., the systems that involve many interacting dynamical components. First, a novel deep learning approach named the weak Latent Dyn
Externí odkaz:
http://arxiv.org/abs/2407.16779
Nonlinear expressions are often approximated by piecewise affine (PWA) functions to simplify analysis or reduce computational costs. To reduce computational complexity, multivariate functions can be represented as compositions of functions with one o
Externí odkaz:
http://arxiv.org/abs/2402.15601
Autor:
Koeln, Justin, Bird, Trevor J., Siefert, Jacob, Ruths, Justin, Pangborn, Herschel, Jain, Neera
This paper introduces zonoLAB, a MATLAB-based toolbox for set-based control system analysis using the hybrid zonotope set representation. Hybrid zonotopes have proven to be an expressive set representation that can exactly represent the reachable set
Externí odkaz:
http://arxiv.org/abs/2310.15426
Control Co-Design (CCD) considers the coupled effects of both the plant and control parameters to optimize a system's closed-loop transient performance during the design stage. This paper presents a new method for CCD with guarantees on robustness to
Externí odkaz:
http://arxiv.org/abs/2310.11658
The manufacturing sector has a substantial influence on worldwide energy consumption. Therefore, improving manufacturing system energy efficiency is becoming increasingly important as the world strives to move toward a more resilient and sustainable
Externí odkaz:
http://arxiv.org/abs/2309.10151
This paper proposes a method for set-valued state estimation of nonlinear, discrete-time systems. This is achieved by combining graphs of functions representing system dynamics and measurements with the hybrid zonotope set representation that can eff
Externí odkaz:
http://arxiv.org/abs/2304.07924
Autor:
Siefert, Jacob A., Bird, Trevor J., Thompson, Andrew F., Glunt, Jonah J., Koeln, Justin P., Jain, Neera, Pangborn, Herschel C.
This paper proposes methods for reachability analysis of nonlinear systems in both open loop and closed loop with advanced controllers. The methods combine hybrid zonotopes, a construct called a state-update set, functional decomposition, and special
Externí odkaz:
http://arxiv.org/abs/2304.06827
Publikováno v:
American Control Conference (2023)
This paper presents identities for calculating over-approximated successor sets of discrete-time nonlinear systems using hybrid zonotopes. The proposed technique extends the state-update set construct, previously developed for linear hybrid systems,
Externí odkaz:
http://arxiv.org/abs/2210.09902