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C. Book Chapters

[309] R. Montgomery, and R. G. Sanfelice "Hybrid Control, Morse Theory and Ivan Kupka", AIMS on Applied Mathematics, vol. 12, pp. 135-152, 2024.

309.pdf (582.87 KB)

[21] C. Cai, R. Goebel, R. G. Sanfelice, and A. R. Teel "Hybrid systems: limit sets and zero dynamics with a view toward output regulation", Analysis and Design of Nonlinear Control Systems: Springer-Verlag, pp. 241-261, 2008.

21.pdf (283.11 KB)

D. Journal Articles

[312] A. Saoud, M. Maghenem, A. Loria, and R. G. Sanfelice "Hybrid Persistency of Excitation in Adaptive Estimation for Hybrid Systems", IEEE Transactions on Automatic Control, pp. 1-8, July, 2024.

312.pdf (353.23 KB)

[270] R. Merco, F. Ferrante, R. G. Sanfelice, and P. Pisu "Robust Output Feedback Control Design in the Presence of Sporadic Measurements", IEEE Transactions on Automatic Control, vol. 68, no. 6, pp. 3768-3775, June, 2023.

270.pdf (330.22 KB)

[262] M. Maghenem, and R. G. Sanfelice "On the Converse Safety Problem for Differential Inclusions: Solutions, Regularity, and Time-Varying Barrier Functions", IEEE Transactions on Automatic Control, vol. 68, no. 1, pp. 172-187, January, 2023.

262.pdf (873.04 KB)

[273] H. Han, M. Maghenem, and R. G. Sanfelice "Certifying the LTL Formula p Until q in Hybrid Systems", IEEE Transactions on Automatic Control, vol. 68, no. 7, pp. 4451-4458, September, 2022.

273.pdf (290.84 KB)

[260] M. Maghenem, A. Melis, and R. G. Sanfelice "Necessary and Sufficient Conditions for the Nonincrease of Functions of Solutions to Constrained Differential Inclusions", ESAIM: Control, Optimisation and Calculus of Variations, vol. 28, no. 13, February, 2022.

260.pdf (686.76 KB)

[261] B. P. Malladi, R. G. Sanfelice, and E.A. Butcher "Robust Hybrid Supervisory Control for Spacecraft Close Proximity Missions", Annual Reviews in Control, vol. 52, pp. 316-329, January, 2021.

261.pdf (4.75 MB)

[236] M. Maghenem, and R. G. Sanfelice "Sufficient Conditions for Forward Invariance and Contractivity in Hybrid Inclusions using Barrier Functions", Automatica, vol. 124, February, 2021.

236.pdf (1011.21 KB)

[219] B. P. Malladi, E.A. Butcher, and R. G. Sanfelice "Rigid Body Pose Hybrid Control Using Dual Quaternions: Global Asymptotic Stabilization and Robustness", Journal of Guidance, Control, and Dynamics, vol. 43, no. 9, July, 2020.

219.pdf (3.79 MB)

[210] P. Casau, C. G. Mayhew, R. G. Sanfelice, and C. Silvestre "Robust global exponential stabilization on the n-dimensional sphere with applications to trajectory tracking for quadrotors", Automatica, vol. 110, December, 2019.

210.pdf (532.87 KB)

[152] R. Naldi, M. Furci, R. G. Sanfelice, and L. Marconi "Robust Global Trajectory Tracking for Underactuated VTOL Aerial Vehicles using Inner-Outer Loop Control Paradigms", IEEE Transactions on Automatic Control, vol. 62, no. 1, pp. 97-112, January, 2017.

152.pdf (2.21 MB)

[68] C. G. Mayhew, R. G. Sanfelice, and A. R. Teel "On Path-Lifting Mechanisms and Unwinding in Quaternion-based Attitude Control", IEEE Transactions on Automatic Control, vol. 58, no. 5, pp. 1179–1191, May, 2013.

68.pdf (269.57 KB)

[58] C. G. Mayhew, R. G. Sanfelice, J. Sheng, M. Arcak, and A. R. Teel "Quaternion-Based Hybrid Feedback for Robust Global Attitude Synchronization", IEEE Transactions on Automatic Control, vol. 57, no. 8, pp. 2122–2127, August, 2012.

58.pdf (221.31 KB)

[50] C. G. Mayhew, R. G. Sanfelice, and A. R. Teel "Quaternion-Based Hybrid Controller for Robust Global Attitude Tracking", IEEE Transactions on Automatic Control, vol. 56, no. 11, pp. 2555–2566, November, 2011.

50.pdf (365.7 KB)

E. Conference Papers

[329] C. A. Montenegro, S. Jimenez, and R. G. Sanfelice "Inverse-Optimal Safety Control for Hybrid Systems", Proceedings of the Conference on Hybrid Systems: Computation and Control, May, 2025.

329.pdf (1.7 MB)

[305] C. A. Montenegro, S. Jimenez, and R. G. Sanfelice "A Data-Driven Approach for Certifying Asymptotic Stability and Cost Evaluation for Hybrid Systems", Proceedings of the Conference on Hybrid Systems: Computation and Control, pp. 1–10, May, 2024.

305.pdf (3.82 MB)

[283] J.H. Castellanos, M. Maghenem, A. Cardenas, R.G. Sanfelice, and J. Zhou "Provable Adversarial Safety in Cyber-Physical Systems", Proceedings of the 8th IEEE European Symposium on Security and Privacy (EuroS&P), pp. 979-1012, July, 2023.

283.pdf (1.46 MB)

[242] A. Saoud, M. Maghenem, and R. G. Sanfelice "A Hybrid Gradient Algorithm for Linear Regression with Hybrid Signals", Proceedings of the American Control Conference, pp. 4997-5002, May, 2021.

242.pdf (249.14 KB)

[240] M. Maghenem, A. Taylor, A. D. Ames, and R. G. Sanfelice "Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation", Proceedings of the American Control Conference, pp. 2418-2423, May, 2021.

240.pdf (220.39 KB)

[238] D. Kooi, M. Maghenem, and R. G. Sanfelice "Self-Triggered Control to Guarantee Forward Pre-Invariance with Uniformly Positive Inter-Event Times", Proceedings of the American Control Conference, pp. 2278-2283, May, 2021.

238.pdf (325.92 KB)

[229] R. Merco, F. Ferrante, R. G. Sanfelice, and P. Pisu "LMI-Based Output Feedback Control Design in the Presence of Sporadic Measurements", Proceedings of the American Control Conference, pp. 3331-3336, July, 2020.

229.pdf (315.83 KB)

[227] H. Gao, M. Maghenem, and R. G. Sanfelice "Hybrid Predictive Control for Tracking in a Single-Phase DC/AC Inverter with an Unknown Load", Proceedings of the American Control Conference, pp. 1037-1042, July, 2020.

227.pdf (1.81 MB)

[226] M. Maghenem, B. Altin, and R. G. Sanfelice "Regularity Properties of Reachability Maps for Hybrid Dynamical Systems with Applications to Safety", Proceedings of the American Control Conference, pp. 1031-1036, July, 2020.

226.pdf (248.61 KB)

[224] M. Maghenem, and R. G. Sanfelice "Lipschitzness of Minimal-Time Functions in Constrained Continuous-Time Systems with Applications to Reachability Analysis", Proceedings of the American Control Conference, pp. 937-942, July, 2020.

224.pdf (237.81 KB)

[221] A. Melis, R. G. Sanfelice, and L. Marconi "A Hybrid Control Algorithm for Gradient-Free Optimization using Conjugate Directions", Proceedings of the IFAC World Congress, vol. 53, no. 2, pp. 5825-5830, July, 2020.

221.pdf (1.96 MB)

[215] H. Han, M. Maghenem, and R. G. Sanfelice "Sufficient Conditions for Satisfaction of Formulas with Until Operators in Hybrid Systems", Proceedings of the Conference on Hybrid Systems: Computation and Control, no. 8, pp. 1-10, April, 2020.

215.pdf (720.78 KB)

[214] M. Maghenem, and R. G. Sanfelice "Local Lipschitzness of Reachability Maps for Hybrid Systems with Applications to Safety", Proceedings of the Conference on Hybrid Systems: Computation and Control, no. 21, pp. 1-11, April, 2020.

214.pdf (776.05 KB)

[207] M. Maghenem, A. Melis, and R. G. Sanfelice "Monotonicity Along Solutions to Constrained Differential Inclusions", Proceedings of the 2019 IEEE Conference on Decision and Control, pp. 7228 - 7233, December, 2019.

207.pdf (273.88 KB)

[206] M. Maghenem, and R. G. Sanfelice "Multiple Barrier Function Certificates for Weak Forward Invariance in Hybrid Inclusions", Proceedings of the 2019 IEEE Conference on Decision and Control, pp. 6319-6324, December, 2019.

206.pdf (298.76 KB)

[202] V. Muthukumaran, R. G. Sanfelice, and G. Elkaim "A Hybrid Control Strategy for Autonomous Navigation While Avoiding Multiple Obstacles at Unknown Locations", Proceedings of the IEEE 15th International Conference on Automation Science and Engineering (CASE), pp. 1042-1047, August, 2019.

202.pdf (758.57 KB)

[199] M. Maghenem, and R. G. Sanfelice "Characterizations of Safety in Hybrid Inclusions via Barrier Functions", Proceedings of the Conference on Hybrid Systems: Computation and Control, pp. 109–118, July, 2019.

199.pdf (4.47 MB)

[198] M. Maghenem, and R. G. Sanfelice "Characterization of Safety and Conditional Invariance for Nonlinear Systems", Proceedings of the American Control Conference, pp. 5039-5044, July, 2019.

198.pdf (268.48 KB)

[197] M. Maghenem, and R. G. Sanfelice "Multiple barrier function certificates for forward invariance in hybrid inclusions", Proceedings of the American Control Conference, pp. 2346-2351, July, 2019.

197.pdf (251.88 KB)

[183] M. Maghenem, and R. G. Sanfelice "Barrier Function Certificates for Forward Invariance in Hybrid Inclusions", Proceedings of the 2018 IEEE Conference on Decision and Control, pp. 759-764, December, 2018.

183.pdf (263.55 KB)

[175] B. P. Malladi, E. Butcher, and R. G. Sanfelice "Robust Hybrid Global Asymptotic Stabilization of Rigid Body Dynamics using Dual Quaternions", 2018 AIAA SciTech Forum-Guidance, Navigation, and Control Conference, pp. 1-10, 01/2018.

175.pdf (3.36 MB)

[174] G. Zucchini, B. P. Malladi, R. G. Sanfelice, and E. Butcher "Robust Hybrid Supervisory Control for a 3-DOF Spacecraft in Close-Proximity Operations", Networked & Autonomous Air & Space Systems, pp. 88-93, 06/2018.

174.pdf (845.65 KB)

[173] J. R. Crane, C. W. T. Roscoe, B. P. Malladi, G. Zucchini, E. Butcher, R. G. Sanfelice, and I. Hussein "Hybrid Control for Autonomous Spacecraft Rendezvous Proximity Operations and Docking", IFAC Workshop on Networked & Autonomous Air & Space Systems (NAASS), pp. 94-99, June, 2018.

173.pdf (466.88 KB)

[169] B. P. Malladi, R. G. Sanfelice, and E. Butcher "Robust Hybrid Kalman Filter for a Class of Nonlinear Systems", Proceedings of the American Control Conference, pp. 628-633, August, 2018.

169.pdf (995.34 KB)

[142] B. P. Malladi, R. G. Sanfelice, E. Butcher, and J. Wang "Robust Hybrid Supervisory Control for Rendezvous and Docking of a Spacecraft", In Proceedings of the Conference on Decision and Control, pp. 3325-3330, December, 2016.

142.pdf (1.42 MB)

[133] P. Casau, C. G. Mayhew, R. G. Sanfelice, and C. Silvestre "Exponential Stabilization of a Vectored-Thrust Vehicle Using Synergistic Potential Functions", Proceedings of American Control Conference, pp. 6042--6047, 2016.

133.pdf (155.29 KB)

[115] M. Furci, G. Casadei, R. Naldi, R. G. Sanfelice, and L. Marconi "An Open-Source Architecture for Control and Coordination of a Swarm of Micro-Quadrotors", Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS), pp. 139--146, June, 2015.

115.pdf (819.95 KB)

[107] P. Casau, C. G. Mayhew, R. G. Sanfelice, and C. Silvestre "Global Exponential Stabilization on the $n$-Dimensional Sphere", Proceedings of the American Control Conference, pp. 3218--3223, June, 2015.

107.pdf (166.88 KB)

[81] R. Naldi, M. Furci, R. G. Sanfelice, and L. Marconi "Global Trajectory Tracking for Underactuated VTOL Aerial Vehicles using Cascade Control Paradigms", Proceedings of the IEEE Conference on Decision and Control, pp. 4212–4217, 2013.

81.pdf (647.36 KB)

[54] C. G. Mayhew, R. G. Sanfelice, and A. R. Teel "Further results on synergistic Lyapunov functions and hybrid feedback design through backstepping", Proc. Joint Conference on Decision and Control and European Control Conference, pp. 7428–7433, 2011.

54.pdf (134.61 KB)

[49] C. G. Mayhew, R. G. Sanfelice, and A. R. Teel "Synergistic Lyapunov functions and backstepping hybrid feedbacks", Proc. 30th American Control Conference, pp. 3203–3208, 2011.

49.pdf (125.5 KB)

[48] C. G. Mayhew, R. G. Sanfelice, and A. R. Teel "On the Non-Robustness of Memoryless Path-Lifting Schemes for Quaternion-Based Attitude Control", Proc. 30th American Control Conference, pp. 1003–1008, 2011.

48.pdf (193.77 KB)

[47] C. G. Mayhew, R. G. Sanfelice, and A. R. Teel "On Quaternion-Based Attitude Control and the Unwinding Phenomenon", Proc. 30th American Control Conference, pp. 299–304, 2011.

47.pdf (210.48 KB)

[41] C. G. Mayhew, R. G. Sanfelice, M. Arcak, and A. R. Teel "Robust Global Asymptotic Attitude Synchronization by Hybrid Control", Proc. 29th American Control Conference, pp. 3666–3671, 2010.

41.pdf (830.08 KB)

[38] C. G. Mayhew, R. G. Sanfelice, and A. R. Teel "Robust Global Asymptotic Attitude Stabilization of a Rigid Body by Quaternion-based Hybrid Feedback", Proc. 46th Conference on Decision and Control, pp. 2522–2527, 2009.

38.pdf (185.6 KB)

[37] C. G. Mayhew, R. G. Sanfelice, and A. R. Teel "Robust Global Asymptotic Stabilization of a 6-DOF Rigid Body by Quaternion-based Hybrid Feedback", Proc. 46th Conference on Decision and Control, pp. 1094–1099, 2009.

37.pdf (161.06 KB)

[30] C. G. Mayhew, R. G. Sanfelice, and A. R. Teel "Robust hybrid source-seeking algorithms based on directional derivatives and their approximations", Proc. 47th IEEE Conference on Decision and Control, pp. 1735–1740, 2008.

30.pdf (174.31 KB)

[24] C. G. Mayhew, R. G. Sanfelice, and A. R. Teel "Robust source-seeking hybrid controllers for nonholonomic vehicles", Proc. 27th American Control Conference, pp. 2722–2727, 2008.

24.pdf (539.78 KB)

[19] S. E. Tuna, R. G. Sanfelice, M. J. Messina, and A. R. Teel "Hybrid MPC: Open-minded but not Easily Swayed", Assessment and Future Directions of Nonlinear Model Predictive Control, vol. Lecture Notes in Control and Information Sciences 358: Springer Berlin / Heidelberg, pp. 17–34, 2007.

19.pdf (574.59 KB)

[13] R. Carloni, R. G. Sanfelice, A. R. Teel, and C. Melchiorri "A hybrid control strategy for robust contact detection and force regulation", Proc. 26th American Control Conference, pp. 1461–1466, 2007.

13.pdf (357.75 KB)

[12] C. G. Mayhew, R. G. Sanfelice, and A. R. Teel "Robust source seeking hybrid controllers for autonomous vehicles", Proc. 26th American Control Conference, pp. 1185–1190, 2007.

12.pdf (537.94 KB)

[7] R. G. Sanfelice, M. J. Messina, S. E. Tuna, and A. R. Teel "Robust hybrid controllers for continuous-time systems with applications to obstacle avoidance and regulation to disconnected set of points", Proc. 25th American Control Conference, pp. 3352–3357, 2006.

7.pdf (508.34 KB)