This paper introduces a novel methodology that leverages the Hamilton-Jacobi solution to enhance non-linear model predictive control (MPC) in scenarios affected by navigational uncertainty. Using Hamilton-Jacobi-Theoretic approach, a methodology to …
This paper introduces an innovative approach to aerodynamic parameter estimation for nonlinear aircraft models, specifically addressing the limitations inherent in traditional methods, such as overfitting and ill-conditioning. Expanding upon the …
A semi-analytic method is proposed to solve a class of optimal control problems while exploiting its underlying Hamiltonian structure. Optimal control problems with a fixed final state at a fixed terminal time are considered. The solution methodology …
A computationally efficient approach is presented to compute the reachability set for a nonlinear system. A reachability set is defined as the computation of states a system can reach given the bounds on system inputs, parameters, and initial …
In this work, we leverage the Hamiltonian kind structure for accurate uncertainty propagation through a nonlinear dynamical system. The developed approach utilizes the fact that the stationary probability density function is purely a function of the …
The reachability set is defined as the collection of all states which can be traversed from arbitrary initial conditions due to the application of admissible control. Three different prob- abilistic approaches to compute the reachability sets for a …
In this paper, a computationally efficient approach is presented to enable onboard computation of reachability sets for the hypersonic re-entry problem. The main idea is to consider the bounded control variables as random variables and represent the …