Control Theory and Algorithms

Our group develops a set of control theory and algorithms which can deal with a range of Stochastic Hybrid Systems (SHS) and nonlinear systems computationally efficiently, and thus can be applied to various complex CPS applications. 

• Over-Approximation of the Backward Reachable Set [1]

• Differential transformation based approach

  • Hybrid Optimal Control Problem [2]

  • Nonlinear Optimal Control Problem [3]

• Adaptive Robust Control

  • Linear Matrix Inequality-based Nonlinear Adaptive Robust Control of a Quadrotor

  • Prediction-based Adaptive Robust Tracking Control of an Uncertain First-Order Time-Delay System

Related Publications

1. D.M. Stipanovic, I. Hwang, and C. Tomlin, “Computation of an Over-Approximation of the Backward Reachable Set using Subsystem Level Set Functions,” Dynamics of Continuous, Discrete, and Impulsive Systems, Series A: Mathematical Analysis, Vol. 11, pp. 399-411, December 2003

2. I. Hwang, J. Li, and D. Du, “A Numerical Algorithm for Optimal Control of a Class of Hybrid Systems: Differential Transformation Based Approach,” International Journal of Control, Vol. 8(2): 277-293, February 2008

3. I. Hwang, J. Li, and D. Du, “Differential Transformation and Its Application to Nonlinear Optimal Control,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 131 (5), September 2009