Dr Hassan Al-Mubarak

Assistant Professor

Office: 22/321-1

Phone: 5442

Email: halmubarak(at)kfupm.edu.sa

Google Scholar

IEEE Author

Education:

• PhD, Electrical and Computer Engineering ,Georgia Institute of Technology, USA, 2024
• MSc, Electrical and Computer Engineering ,Georgia Institute of Technology, USA, 2018
• BSc, Control Systems Engineering, KFUPM, Saudi Arabia, 2016

Research Interests:

• Enterprise AI Solutions.
• Safety-critical Control.
• Robotics and Autonomous Systems.
• Optimal and Learning Control.
• Machine Learning.
• Controls for AI and ML.
• Data-driven Control and Model-based Reinforcement Learning.
• Large-Scale Dynamic Optimization.
• Muli-agent Optimization and Control.
• Adaptive Model Predictive Control.
• Intelligent Systems Optimization.

Publications:

Journal Publications

1. H. Almubarak, N. Sadegh, and E. A. Theodorou, “Barrier States Theory for Safety-Critical Multi-Objective Control,” IEEE Transactions on Automatic Control, 2025, doi: 10.1109/TAC.2025.3584908.
2. H. Almubarak, K. Stachowicz, N. Sadegh, and E. A. Theodorou, “Safety Embedded Differential Dynamic Programming Using Discrete Barrier States,” IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 2755–2762, 2022, doi: 10.1109/LRA.2022.3143301.
3. H. Almubarak, N. Sadegh, and E. A. Theodorou, “Safety Embedded Control of Nonlinear Systems via Barrier States,” IEEE Control Systems Letters, vol. 6, pp. 1328–1333, 2021, doi: 10.1109/LCSYS.2021.3093255.

Conference Proceedings and Presentations

1. M. F. Al-Sunni, H. Almubarak, and J. M. Dolan, “LLA-MPC: Fast Adaptive Control for Autonomous Racing,” in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), 2025 (to appear).
2. M. F. Al-Sunni, H. Almubarak, and J. M. Dolan, “Safety Embedded Adaptive Control Using Barrier States,” in Proc. American Control Conf. (ACC), 2025.
3. A. Oshin, H. Almubarak, and E. A. Theodorou, “Differentiable Robust Model Predictive Control,” in Proc. Robotics: Science and Systems (RSS), 2024.
4. J. E. Kuperman, H. Almubarak, A. D. Saravanos, and E. A. Theodorou, “Improved Exploration for Safety-Embedded Differential Dynamic Programming Using Tolerant Barrier States,” in Proc. 21st Int. Conf. Advanced Robotics (ICAR), 2023.
5. H. Almubarak, E. A. Theodorou, and N. Sadegh, “Barrier States Embedded Iterative Dynamic Game for Robust and Safe Trajectory Optimization,” in Proc. American Control Conf. (ACC), 2022, pp. 5166–5172.
6. H. Almubarak, E. A. Theodorou, and N. Sadegh, “Safety Embedded Differential Dynamic Programming Using Discrete Barrier States,” in Proc. IEEE Int. Conf. Robotics and Automation (ICRA), 2022.
7. C. Aoun, P. Zhao, H. Almubarak, N. Hovakimyan, and E. A. Theodorou, “L1 Adaptive Control of Constrained Systems Using Barrier States,” in AIAA SciTech Forum, Guidance, Navigation, and Control Conf., 2023.
8. H. Almubarak, E. A. Theodorou, and N. Sadegh, “HJB Based Optimal Safe Control using Control Barrier Functions,” in Proc. 60th IEEE Conf. Decision and Control (CDC), 2021.
9. H. Almubarak, E. A. Theodorou, and N. Sadegh, “Safety Embedded Control of Nonlinear Systems via Barrier States,” in Proc. 60th IEEE Conf. Decision and Control (CDC), 2021.
10. H. Almubarak, N. Sadegh, and D. G. Taylor, “Infinite Horizon Nonlinear Quadratic Cost Regulator,” in Proc. American Control Conf. (ACC), 2019, pp. 5570–5575.