Research area

Robust control and its applications

Objective: Ensuring robustness against external disturbances, measurement noise, model uncertainties

Relevant problems in control: Stability(asymptotic, exponential, etc), Input-output behavior(Input/output stability, Lp stability, H_infty control)

Method: Linear programming (LP), Linear matrix inequality (LMI), Tangent cones 

Target application: DC motor, helicopter system, etc

Safety control and its applications

Objective: Ensuring safety of a control system against possible collisions with obstacles (or the other objects)

Relevant problems in control: Safety, forward invariance of a set

Method: Barrier functions, Control barrier functions, Quadratic programming, machine learning for computing CBF

Target application: Robot manipulators, mobile robots, autonomous vehicles