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Real-Time Multi-Contact Model Predictive Control via ADMM
We propose a hybrid model predictive control algorithm, consensus complementarity control (C3), for systems that make and break contact …
Alp Aydınoğlu, Michael Posa
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Learning Linear Complementarity Systems
This paper investigates the learning, or system identification, of a class of piecewise-affine dynamical systems known as linear …
Wanxin Jin, Alp Aydınoğlu, Mathew Halm, Michael Posa
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Framework and Software for Real-Time Multi-Contact Model Predictive Control
Our recent work on consensus complementarity control (C3) proposes a model predictive control algorithm for hybrid systems that make …
Alp Aydınoğlu, Adam Wei, Michael Posa
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Stability Analysis of Complementarity Systems with Neural Network Controllers
Complementarity problems, a class of mathematical optimization problems with orthogonality constraints, are widely used in many …
Alp Aydınoğlu, Mahyar Fazlyab, Manfred Morari, Michael Posa
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Contact-Aware Controller Design for Complementarity Systems
While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the …
Alp Aydınoğlu, Victor M. Preciado, Michael Posa
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Data-driven Stabilization of Nonlinear Systems via Tree-Based Ensemble Learning
We present an approach for the stabilization of an unknown nonlinear dynamical system when only data samples from its dynamics are …
Alp Aydınoğlu, Cassiano O. Becker, Victor M. Preciado
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