Research
The Nonlinear Systems and Controls group focuses primarily on methodological development, which finds applications in a wide range of areas. Some of our recent focuses include:
Reachability analysis for autonomous systems
We navigate classical challenges surrounding scalability, nonlinearities, and tightness of approximation, while building novel computational tools for reachability verification.
Learning Lyapunov-based certificates
Using trajectory data for nonlinear systems, we research ways to construct Lyapunov-based functions that certify stability or set-invariance, and that are amenable to formal verification in cases where the dynamics are known.
Safe human-in-the-loop control systems
This encompasses a rather broad set of topics, ranging from predictive modelling of humans (using inverse optimal control) to CBF+MPC-based safe filters in semi-autonomous systems that share control with human operators.