Author

Maitham Al-Sunni

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Preprint Oct 2026

LBA-CBF: Rapidly Adaptive Safety Filters via Parallel Dynamics Inference

Control barrier functions (CBFs) certify commands through an assumed dynamics model, so an abrupt, unmeasured regime change can undermine the certificate exactly when safety matters most. We present Look-Back Adaptive Control Barrier Functions (LBA-CBF), which rank a finite bank of candidate dynamics by recent predicti...

Maitham Al-Sunni, Timeea-Andreea Radu, Hassan Almubarak et al. · 1 citation

Preprint Sep 2026

Generalizable Optimal Control with Transformers: Closed-Loop Certification and Near-Optimality Guarantees

This letter develops closed-loop performance certificates for a transformer-based feedback policy. The policy is trained to imitate optimal Linear Quadratic Regulator (LQR) control across a family of heterogeneous Multiple-Input, Multiple-Output (MIMO) Linear Time-Invariant (LTI) systems. First, we establish a finite-s...

Turki Bin Mohaya, Maitham Al-Sunni, John M. Dolan et al. · 0 citations