Zobrazeno 1 - 10
of 14
pro vyhledávání: '"Shahab Kaynama"'
Autor:
Jaime F. Fisac, Anayo K. Akametalu, Melanie N. Zeilinger, Jeremy H. Gillula, Shahab Kaynama, Claire J. Tomlin
Publikováno v:
IEEE Transactions on Automatic Control. 64:2737-2752
The proven efficacy of learning-based control schemes strongly motivates their application to robotic systems operating in the physical world. However, guaranteeing correct operation during the learning process is currently an unresolved issue, which
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::a3dfd96ecd7e2e1d476d318fea29a330
https://doi.org/10.1109/tac.2018.2876389
https://doi.org/10.1109/tac.2018.2876389
Publikováno v:
Nonlinear Analysis: Hybrid Systems. 10:63-82
In sampled data systems the controller receives periodically sampled state feedback about the evolution of a continuous time plant, and must choose a constant control signal to apply between these updates; however, unlike purely discrete time models
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::9ce228067ca7d6e11a2203fe6d438866
https://doi.org/10.1016/j.nahs.2013.04.003
https://doi.org/10.1016/j.nahs.2013.04.003
Autor:
Shahab Kaynama, Meeko M. K. Oishi
Publikováno v:
IEEE Transactions on Automatic Control. 58:2878-2892
Computing the viability kernel is key in providing guarantees of safety and proving existence of safety-preserving controllers for constrained dynamical systems. Current numerical techniques that approximate this construct suffer from a complexity th
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::e0f8436692bbff5f59a5365e36218e5b
https://doi.org/10.1109/tac.2013.2272152
https://doi.org/10.1109/tac.2013.2272152
Publikováno v:
Automatica. 49:2017-2029
While a number of Lagrangian algorithms to approximate reachability in dozens or even hundreds of dimensions for systems with linear dynamics have recently appeared in the literature, no similarly scalable algorithms for approximating viable sets hav
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::a62a1bca4d71d513131dbe1d0e0a73ef
https://doi.org/10.1016/j.automatica.2013.03.020
https://doi.org/10.1016/j.automatica.2013.03.020
Autor:
Shahab Kaynama, Ian M. Mitchell
Publikováno v:
HSCC
A sampled data model falls somewhere between continuous and discrete time models: The plant evolves in continuous time, but the controller receives feedback and can modify its control input(s) only at periodic points in time. In previous work we have
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::ac100173f827544eeb658a311c5178fe
https://doi.org/10.1145/2728606.2728619
https://doi.org/10.1145/2728606.2728619
Autor:
Jeremy H. Gillula, Melanie N. Zeilinger, Claire J. Tomlin, Anayo K. Akametalu, Shahab Kaynama, Jaime F. Fisac
Publikováno v:
CDC
Reinforcement learning for robotic applications faces the challenge of constraint satisfaction, which currently impedes its application to safety critical systems. Recent approaches successfully introduce safety based on reachability analysis, determ
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::31699a30dbbb59efddfef3ec4cb31e87
https://zenodo.org/record/1265878
https://zenodo.org/record/1265878
Publikováno v:
HSCC
Proving that systems satisfy hard input and state constraints is frequently desirable when designing cyber-physical systems. One method for doing so is to compute the viability kernel, the subset of the state space for which a control signal exists t
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::e067a2185a2f0edc3fcf5e907d6f5af2
https://doi.org/10.1145/2562059.2562117
https://doi.org/10.1145/2562059.2562117
We present a scalable set-valued safety-preserving controller for constrained continuous-time linear time-invariant (LTI) systems subject to additive, unknown but bounded disturbance or uncertainty. The approach relies upon a conservative approximati
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::431fdb9b1490d18c3a97a49810a53af9
Publikováno v:
ACC
In a previous paper we showed how the continual reachability set can be numerically computed using efficient maximal reachability tools. The resulting set is in general arbitrarily shaped and in practice possibly non-convex. Here, we present a fixed-
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::b47583284f83ee41723938e3d8206d2e
https://doi.org/10.1109/acc.2012.6315189
https://doi.org/10.1109/acc.2012.6315189
Publikováno v:
HSCC
We present a connection between the viability kernel and maximal reachable sets. Current numerical schemes that compute the viability kernel suffer from a complexity that is exponential in the dimension of the state space. In contrast, extremely effi
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::3bb9e5919cee37d10cf53f8f6269b7d4
https://doi.org/10.1145/2185632.2185644
https://doi.org/10.1145/2185632.2185644