publications

2026

1. ECC

   Uniform Feasibility For Smoothed Backup Control Barrier Functions

   Anil Alan and Bart De Schutter

   In Proceedings of the European Control Conference (ECC), 2026

   Bib

   @inproceedings{alan2026uniform,
     title = {Uniform Feasibility For Smoothed Backup Control Barrier Functions},
     author = {Alan, Anil and {De Schutter}, Bart},
     booktitle = {Proceedings of the European Control Conference (ECC)},
     year = {2026},
   }

2. IFAC WC

   Approximate Model Predictive Control for Microgrid Energy Management via Imitation Learning

   Changrui Liu, Shengling Shi, Anil Alan, and 2 more authors

   In Proceedings of the IFAC World Congress, 2026

   Bib

   @inproceedings{liu2026approximate,
     title = {Approximate Model Predictive Control for Microgrid Energy Management via Imitation Learning},
     author = {Liu, Changrui and Shi, Shengling and Alan, Anil and Venayagamoorthy, Ganesh K. and {De Schutter}, Bart},
     booktitle = {Proceedings of the IFAC World Congress},
     year = {2026},
   }

2025

1. IEEE OJCS

   Generalizing robust control barrier functions from a controller design perspective

   Anil Alan, Tamás G. Molnár, Aaron D. Ames, and 1 more author

   IEEE Open Journal of Control Systems, 2025

   DOI Bib

   @article{alan2025generalizing,
     title = {Generalizing robust control barrier functions from a controller design perspective},
     author = {Alan, Anil and Moln{\'a}r, Tam{\'a}s G. and Ames, Aaron D. and Orosz, G{\'a}bor},
     journal = {IEEE Open Journal of Control Systems},
     volume = {4},
     pages = {54--69},
     year = {2025},
     doi = {10.1109/OJCSYS.2024.3499377}
   }

2. IEEE TAC

   Predictive control barrier functions for piecewise affine systems with non-smooth constraints

   Kanghui He, Anil Alan, Shengling Shi, and 1 more author

   IEEE Transactions on Automatic Control, 2025

   under review

   Bib

   @article{he2024predictive,
     title = {Predictive control barrier functions for piecewise affine systems with non-smooth constraints},
     author = {He, Kanghui and Alan, Anil and Shi, Shengling and {De Schutter}, Bart},
     journal = {IEEE Transactions on Automatic Control},
     year = {2025},
     note = {under review},
   }

3. Automatica

   Uncertainty estimators for robust backup control barrier functions

   David van Wijk, Ersin Das, Anil Alan, and 5 more authors

   Automatica, 2025

   under review

   Bib

   @article{vanwijk2024uncertainty,
     title = {Uncertainty estimators for robust backup control barrier functions},
     author = {{van Wijk}, David and Das, Ersin and Alan, Anil and Coogan, Samuel and Moln{\'a}r, Tam{\'a}s G. and Burdick, Joel W. and Majji, Manoranjan and Hobbs, Kerianne},
     journal = {Automatica},
     year = {2025},
     note = {under review},
   }

4. Automatica

   Robust adaptive discrete-time control barrier certificate

   Changrui Liu, Anil Alan, Shengling Shi, and 1 more author

   Automatica, 2025

   conditionally accepted

   Bib

   @article{liu2024robust,
     title = {Robust adaptive discrete-time control barrier certificate},
     author = {Liu, Changrui and Alan, Anil and Shi, Shengling and {De Schutter}, Bart},
     journal = {Automatica},
     year = {2025},
     note = {conditionally accepted},
   }

2023

1. IEEE TIV

   Integrating safety with performance in connected automated truck control: experimental validation

   Anil Alan, Chaozhe R. He, Tamás G. Molnár, and 3 more authors

   IEEE Transactions on Intelligent Vehicles, 2023

   DOI Bib

   @article{alan2023integrating,
     title = {Integrating safety with performance in connected automated truck control: experimental validation},
     author = {Alan, Anil and He, Chaozhe R. and Moln{\'a}r, Tam{\'a}s G. and Mathew, Johaan C. and Bell, Aaron H. and Orosz, G{\'a}bor},
     journal = {IEEE Transactions on Intelligent Vehicles},
     volume = {9},
     number = {1},
     pages = {3075--3088},
     year = {2023},
     doi = {10.1109/TIV.2023.3340807}
   }

2. IEEE TCST

   Control barrier functions and input-to-state safety with application to automated vehicles

   Anil Alan, Andrew J. Taylor, Chaozhe R. He, and 2 more authors

   IEEE Transactions on Control Systems Technology, 2023

   DOI Bib

   @article{alan2023cbf_iss,
     title = {Control barrier functions and input-to-state safety with application to automated vehicles},
     author = {Alan, Anil and Taylor, Andrew J. and He, Chaozhe R. and Ames, Aaron D. and Orosz, G{\'a}bor},
     journal = {IEEE Transactions on Control Systems Technology},
     volume = {31},
     number = {6},
     pages = {2744--2759},
     year = {2023},
     doi = {10.1109/TCST.2023.3286090}
   }

3. IEEE L-CSS

   Disturbance observers for robust safety-critical control with control barrier functions

   Anil Alan, Tamás G. Molnár, Ersin Daş, and 2 more authors

   IEEE Control Systems Letters, 2023

   Best Student Paper Award DOI Bib

   Best Student Paper Award, ACC 2023

   @article{alan2023disturbance,
     title = {Disturbance observers for robust safety-critical control with control barrier functions},
     author = {Alan, Anil and Moln{\'a}r, Tam{\'a}s G. and Da{\c{s}}, Ersin and Ames, Aaron D. and Orosz, G{\'a}bor},
     journal = {IEEE Control Systems Letters},
     volume = {7},
     pages = {1123--1128},
     year = {2023},
     doi = {10.1109/LCSYS.2022.3228927}
   }

4. IEEE L-CSS

   Parameterized barrier functions to guarantee safety under uncertainty

   Anil Alan, Tamás G. Molnár, Aaron D. Ames, and 1 more author

   IEEE Control Systems Letters, 2023

   DOI Bib

   @article{alan2023parameterized,
     title = {Parameterized barrier functions to guarantee safety under uncertainty},
     author = {Alan, Anil and Moln{\'a}r, Tam{\'a}s G. and Ames, Aaron D. and Orosz, G{\'a}bor},
     journal = {IEEE Control Systems Letters},
     volume = {7},
     pages = {2077--2082},
     year = {2023},
     doi = {10.1109/LCSYS.2023.3284914}
   }

5. IEEE L-CSS

   Energy-Critical Control Using Control Barrier Functions

   Anil Alan, Andrej Ivanco, and Gábor Orosz

   IEEE Control Systems Letters, 2023

   DOI Bib

   @article{alan2023energy,
     title = {Energy-Critical Control Using Control Barrier Functions},
     author = {Alan, Anil and Ivanco, Andrej and Orosz, G{\'a}bor},
     journal = {IEEE Control Systems Letters},
     volume = {7},
     pages = {3938--3943},
     year = {2023},
     doi = {10.1109/LCSYS.2023.3341753}
   }

2022

1. IEEE L-CSS

   Safe controller synthesis with tunable input-to-state safe control barrier functions

   Anil Alan, Andrew J. Taylor, Chaozhe R. He, and 2 more authors

   IEEE Control Systems Letters, 2022

   DOI Bib

   @article{alan2022safe,
     title = {Safe controller synthesis with tunable input-to-state safe control barrier functions},
     author = {Alan, Anil and Taylor, Andrew J. and He, Chaozhe R. and Orosz, G{\'a}bor and Ames, Aaron D.},
     journal = {IEEE Control Systems Letters},
     volume = {6},
     pages = {908--913},
     year = {2022},
     doi = {10.1109/LCSYS.2021.3086854}
   }

2. IFAC TDS

   Input-to-state safety with input delay in longitudinal vehicle control

   Tamás G. Molnár, Anil Alan, András K. Kiss, and 2 more authors

   In Proceedings of the 17th IFAC Workshop on Time-Delay Systems, 2022

   DOI Bib

   @inproceedings{molnar2022input,
     title = {Input-to-state safety with input delay in longitudinal vehicle control},
     author = {Moln{\'a}r, Tam{\'a}s G. and Alan, Anil and Kiss, Andr{\'a}s K. and Ames, Aaron D. and Orosz, G{\'a}bor},
     booktitle = {Proceedings of the 17th IFAC Workshop on Time-Delay Systems},
     pages = {312--317},
     year = {2022},
     doi = {10.1016/j.ifacol.2022.11.152}
   }

3. L4DC

   Safety-aware preference-based learning for safety-critical control

   Ryan K. Cosner, Maegan Tucker, Andrew J. Taylor, and 7 more authors

   In Proceedings of the 4th Annual Learning for Dynamics and Control Conference (L4DC), 2022

   Bib

   @inproceedings{cosner2022safety,
     title = {Safety-aware preference-based learning for safety-critical control},
     author = {Cosner, Ryan K. and Tucker, Maegan and Taylor, Andrew J. and Li, Kejun and Moln{\'a}r, Tam{\'a}s G. and Ubellacker, Wyatt and Alan, Anil and Orosz, G{\'a}bor and Yue, Yisong and Ames, Aaron D.},
     booktitle = {Proceedings of the 4th Annual Learning for Dynamics and Control Conference (L4DC)},
     series = {PMLR},
     volume = {168},
     pages = {1020--1033},
     year = {2022},
   }

2020

1. ACC

   Improving fuel economy of heavy-duty vehicles in daily driving

   Chaozhe R. He, Anil Alan, Tamás G. Molnár, and 6 more authors

   In Proceedings of the American Control Conference, 2020

   DOI Bib

   @inproceedings{he2020improving,
     title = {Improving fuel economy of heavy-duty vehicles in daily driving},
     author = {He, Chaozhe R. and Alan, Anil and Moln{\'a}r, Tam{\'a}s G. and Avedisov, Sergei S. and Bell, Aaron H. and Zukouski, Raphael and Hunkler, Mark and Yan, Junmin and Orosz, G{\'a}bor},
     booktitle = {Proceedings of the American Control Conference},
     pages = {2306--2311},
     year = {2020},
     doi = {10.23919/ACC45564.2020.9147799}
   }

2018

1. IEEE CSM

   High-performance adaptive pressure control in the presence of time delays

   Anil Alan, Yildiray Yildiz, and Ugur Poyraz

   IEEE Control Systems Magazine, 2018

   DOI Bib

   @article{alan2018adaptive,
     title = {High-performance adaptive pressure control in the presence of time delays},
     author = {Alan, Anil and Yildiz, Yildiray and Poyraz, Ugur},
     journal = {IEEE Control Systems Magazine},
     volume = {38},
     number = {5},
     pages = {26--52},
     year = {2018},
     doi = {10.1109/MCS.2018.2851581}
   }

2017

1. IEEE CCTA

   Adaptive pressure control experiment: Controller design and implementation

   Anil Alan, Yildiray Yildiz, and Ugur Poyraz

   In Proceedings of the IEEE Conference on Control Technology and Applications (CCTA), 2017

   DOI Bib

   @inproceedings{alan2017adaptive,
     title = {Adaptive pressure control experiment: Controller design and implementation},
     author = {Alan, Anil and Yildiz, Yildiray and Poyraz, Ugur},
     booktitle = {Proceedings of the IEEE Conference on Control Technology and Applications (CCTA)},
     pages = {80--85},
     year = {2017},
     doi = {10.1109/CCTA.2017.8062446}
   }

2. AIAA SciTech

   Pressure control of cold air testing plant with delay resistant CMRAC

   Anil Alan, Yildiray Yildiz, and Ugur Poyraz

   In Proceedings of the 55th AIAA Aerospace Sciences Meeting (SciTech), 2017

   Bib

   @inproceedings{alan2017pressure,
     title = {Pressure control of cold air testing plant with delay resistant CMRAC},
     author = {Alan, Anil and Yildiz, Yildiray and Poyraz, Ugur},
     booktitle = {Proceedings of the 55th AIAA Aerospace Sciences Meeting (SciTech)},
     year = {2017},
   }

2015

1. AIAA JPC

   Gas generator pressure control in throttleable ducted rockets: A classical and adaptive control approach

   Anil Alan, Yildiray Yildiz, and Ugur Poyraz

   In Proceedings of the 51st AIAA/SAE/ASEE Joint Propulsion Conference, 2015

   Bib

   @inproceedings{alan2015gas,
     title = {Gas generator pressure control in throttleable ducted rockets: A classical and adaptive control approach},
     author = {Alan, Anil and Yildiz, Yildiray and Poyraz, Ugur},
     booktitle = {Proceedings of the 51st AIAA/SAE/ASEE Joint Propulsion Conference},
     year = {2015},
   }