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09/23/2022
Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors
Achieving stable hopping has been a hallmark challenge in the field of d...
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07/12/2022
Compactly Restrictable Metric Policy Optimization Problems
We study policy optimization problems for deterministic Markov decision ...
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03/22/2022
Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models
Control Barrier Functions (CBFs) have been demonstrated to be a powerful...
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11/21/2020
Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Actuation Uncertainty
Modern nonlinear control theory seeks to endow systems with properties s...
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03/18/2019
A Control Lyapunov Perspective on Episodic Learning via Projection to State Stability
The goal of this paper is to understand the impact of learning on contro...
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03/04/2019