L1 Adaptive Control
L1 Adaptive Control is a novel theory for the design of robust adaptive control architectures using fast adaptation schemes. The key feature of L1 adaptive control is the decoupling of the adaptation loop from the control loop, which enables arbitrarily fast adaptation without sacrificing robustness. In fact, in L1 adaptive control architectures, the rate of the adaptation loop can be set arbitrarily high, subject only to hardware limitations, while the tradeoff between performance and robustness can be addressed through conventional methods from classical and robust control. More >>
Cooperative Control of Multi-agent Systems
Worldwide, there has been growing interest in the use of autonomous vehicles to execute missions of increasing complexity without constant supervision of human operators. A key enabling element for the execution of such missions is the availability of advanced systems for motion control of autonomous vehicles. At the ACRL, we are interested in the development, implementation, and testing of robust strategies for cooperative motion control of a fleet of multiple autonomous vehicles supported by an inter-vehicle dynamic communications network. More >>
Cyber-Physical-Human Systems
The architectures of L1 adaptive control theory have been analyzed for their performance guarantees in the presence of uncertainties in the communication network, which transmits data over a possibly faulty digital network via discrete packets. More >>
Stochastic Systems with Communication Constraints
We consider continuous-time stochastic systems in the presence of limited information and quantify Bode-like performance limitations for this class of systems in terms of mutual information rates. More >>
Singular Characteristics of First Order PDEs
We explore methods for construction of optimal solutions in various problems modeled by first order partial differential equations (PDEs), involving non-smooth value functions or non-smooth initial conditons. More >>