Related papers: An optimal consensus tracking control algorithm fo…
This paper describes an online off-policy data-driven reinforcement learning based-algorithm to regulate and control the relative position of a deputy satellite in an autonomous satellite docking problem. The optimal control policy is…
This work addresses the ecological-adaptive cruise control problem for connected electric vehicles by a computationally efficient robust control strategy. The problem is formulated in the space-domain with a realistic description of the…
We consider constraint-coupled optimization problems in which agents of a network aim to cooperatively minimize the sum of local objective functions subject to individual constraints and a common linear coupling constraint. We propose a…
Floating offshore wind turbines allow wind energy to be harvested in deep waters. However, additional dynamics and structural loads may result when the floating platform is being excited by wind and waves. In this work, the conventional…
Trajectory tracking control of autonomous trolley collection robots (ATCR) is an ambitious work due to the complex environment, serious noise and external disturbances. This work investigates a control scheme for ATCR subjecting to severe…
In optimal control problems, disturbances are typically dealt with using robust solutions, such as H-infinity or tube model predictive control, that plan control actions feasible for the worst-case disturbance. Yet, planning for every…
We provide an algorithm for the simultaneous system identification and model predictive control of nonlinear systems. The algorithm has finite-time near-optimality guarantees and asymptotically converges to the optimal (non-causal)…
We develop an optimization-based framework for joint real-time trajectory planning and feedback control of feedback-linearizable systems. To achieve this goal, we define a target trajectory as the optimal solution of a time-varying…
This paper investigates the distributed optimal output consensus problem of second-order uncertain nonlinear multi-agent systems over weight-unbalanced directed networks. Under the standard assumption that local cost functions are strongly…
In this paper, we consider the problem of multi-objective optimal control of a dynamical system with additive and multiplicative noises with given second moments and arbitrary probability distributions. The objectives are given by quadratic…
To cope with uncertain traffic patterns and traffic models, traffic-responsive signal control strategies in the literature are designed to be robust to these uncertainties. These robust strategies still require sensing infrastructure to…
This paper focuses on the problem of collaborative collision avoidance for autonomous inland ships. Two solutions are provided to solve the problem in a distributed manner. We first present a distributed model predictive control (MPC)…
Recently, there has been a surge in interest in safe and robust techniques within reinforcement learning (RL). Current notions of risk in RL fail to capture the potential for systemic failures such as abrupt stoppages from system failures…
Introduction of renewable generation leads to significant reduction of inertia in power system, which deteriorates the quality of frequency control. This paper suggests a new control scheme utilizing controllable load to deal with low…
This paper describes a resilient navigation and planning system used in the Indy Autonomous Challenge (IAC) competition. The IAC is a competition where full-scale race cars run autonomously on Indianapolis Motor Speedway(IMS) up to 290 km/h…
We consider the problem of designing agents able to compute optimal decisions by composing data from multiple sources to tackle tasks involving: (i) tracking a desired behavior while minimizing an agent-specific cost; (ii) satisfying safety…
This paper considers the leader-follower tracking control problem for linear interconnected systems with undirected topology and linear dynamic coupling. Interactions between the systems are treated as linear dynamic uncertainty and are…
In this note we consider the problem of synthesizing optimal control policies for a system from noisy datasets. We present a novel algorithm that takes as input the available dataset and, based on these inputs, computes an optimal policy…
In this paper, we study the optimal control of a mixed-autonomy platoon driving on a single lane to smooth traffic flow. The platoon consists of autonomous vehicles, whose acceleration is controlled, and human-driven vehicles, whose…
We consider the optimal control of linear systems over wireless MIMO fading channels, where the MIMO wireless fading and random access of the remote controller may cause intermittent controllability or uncontrollability of the closed-loop…