We present a generalized implementation of Look-Back and Look-Ahead Adaptive Model Predictive Control (LLA-MPC), a learning-free framework for real-time, rapid adaptive system identification and control. The original formulation was demonstrated only in simulation, for autonomous racing with a fixed model structure. Ou...
He-You Liao, Maitham Al-Sunni, John M. Dolan· 2 citations
Real-time whole-body controllers for legged robots typically plan through a fixed nominal model and degrade when the deployed dynamics change. Adaptive methods typically require a model structure that contact dynamics do not provide, or they need offline training for each anticipated condition. We present Look-back and...
Se-Bin Jung, Maitham Al-Sunni, Juan R. Alvarez-Padilla et al.· 0 citations
Control barrier functions (CBFs) certify commands through an assumed dynamics model, so an abrupt, unmeasured regime change can undermine the certificate exactly when safety matters most. We present Look-Back Adaptive Control Barrier Functions (LBA-CBF), which rank a finite bank of candidate dynamics by recent predicti...
Maitham Al-Sunni, Timeea-Andreea Radu, Hassan Almubarak et al.· 1 citation
This letter develops closed-loop performance certificates for a transformer-based feedback policy. The policy is trained to imitate optimal Linear Quadratic Regulator (LQR) control across a family of heterogeneous Multiple-Input, Multiple-Output (MIMO) Linear Time-Invariant (LTI) systems. First, we establish a finite-s...
Turki Bin Mohaya, Maitham Al-Sunni, John M. Dolan et al.· 0 citations
We use cookies to run the site and, with your consent, for analytics and to show ads.
See our Cookie Policy.
