Related papers: Sparse Iterative Learning Control with Application…
The goal of this work is to enable a team of quadrotors to learn how to accurately track a desired trajectory while holding a given formation. We solve this problem in a distributed manner, where each vehicle has only access to the…
Robust and adaptive control strategies are needed when robots or automated systems are introduced to unknown and dynamic environments where they are required to cope with disturbances, unmodeled dynamics, and parametric uncertainties. In…
A Learning Model Predictive Controller (LMPC) for linear system in presented. The proposed controller is an extension of the LMPC [1] and it aims to decrease the computational burden. The control scheme is reference-free and is able to…
This work investigates robust monotonic convergent iterative learning control (ILC) for uncertain linear systems in both time and frequency domains, and the ILC algorithm optimizing the convergence speed in terms of $l_{2}$ norm of error…
Highly dynamic tasks that require large accelerations and precise tracking usually rely on accurate models and/or high gain feedback. While kinematic optimization allows for efficient representation and online generation of hitting…
This paper studies data-driven iterative learning control (ILC) for linear time-invariant (LTI) systems with unknown dynamics, output disturbances and input box-constraints. Our main contributions are: 1) using a non-parametric data-driven…
In networked control systems, communication resource constraints often necessitate the use of \emph{sparse} control input vectors. A prototypical problem is how to ensure controllability of a linear dynamical system when only a limited…
The repetitive tracking task for time-varying systems (TVSs) with non-repetitive time-varying parameters, which is also called non-repetitive TVSs, is realized in this paper using iterative learning control (ILC). A machine learning (ML)…
In the machine learning era, sparsity continues to attract significant interest due to the benefits it provides to learning models. Algorithms aiming to optimise the \(\ell_0\)- and \(\ell_1\)-norm are the common choices to achieve…
Rather than traditional position control, impedance control is preferred to ensure the safe operation of industrial robots programmed from demonstrations. However, variable stiffness learning studies have focused on task performance rather…
Feedback control systems do not do what you ask. The concept of bandwidth is defined to tell what components of a command are reasonably well handled. Iterative Learning Control (ILC) seeks to converge to zero error following any given…
Proximity operations of rigid bodies, such as spacecraft rendezvous and docking, require precise tracking of both position and attitude over finite time intervals. These operations are often repeated under uncertain conditions, with unknown…
We propose an approach to design a Model Predictive Controller (MPC) for constrained Linear Time Invariant systems performing an iterative task. The system is subject to an additive disturbance, and the goal is to learn to satisfy state and…
Learning with reduced labeling standards, such as noisy label, partial label, and multiple label candidates, which we generically refer to as \textit{imprecise} labels, is a commonplace challenge in machine learning tasks. Previous methods…
Generally, the classic iterative learning control (ILC) methods focus on finding design conditions for repetitive systems to achieve the perfect tracking of any specified trajectory, whereas they ignore a fundamental problem of ILC: whether…
Congestion on highways has become a significant social problem due to the increasing number of vehicles, leading to considerable waste of time and pollution. Regulating the outflow from the Service Station can help alleviate this…
The stability and convergence of an Iterative Learning Controller (ILC) may be assessed either by directly iterating the equations for a variety of inputs, or by finding the eigenvalues of the iterated system, or by forming the Z-transform…
For iterative learning control (ILC), one of the basic problems left to address is how to solve the contradiction between convergence conditions for the output tracking error and for the input signal (or error). This problem is considered…
Existing work in continual learning (CL) focuses on mitigating catastrophic forgetting, i.e., model performance deterioration on past tasks when learning a new task. However, the training efficiency of a CL system is under-investigated,…
In this paper we propose a framework to analyze iterative first-order optimization algorithms for time-varying convex optimization. We assume that the temporal variability is caused by a time-varying parameter entering the objective, which…