Related papers: Improving the Closed-Loop Tracking Performance Usi…

Pendulum-driven systems have emerged as a notable modification of vibro-impact mechanisms, replacing the conventional mass-on-spring oscillator with a pendulum. Such systems exhibit intricate behavior resulting from the interplay of…

This paper presents a new model-based algorithm that computes predictive optimal controls on-line and in closed loop for traditionally challenging nonlinear systems. Examples demonstrate the same algorithm controlling hybrid impulsive,…

This paper presents a novel, Fourier series based numerical method of open-loop control optimization. Due to its flexible assumptions, it can be applied in a large variety of systems, including discontinuous ones or even so-called black…

Experimentally achieving the precision that standard quantum metrology schemes promise is always challenging. Recently, additional controls were applied to design feasible quantum metrology schemes. However, these approaches generally does…

This paper introduces a class of model-free feedback methods for solving generic constrained optimization problems where the specific mathematical forms of the objective and constraint functions are not available. The proposed methods,…

Reference tracking systems involve a plant that is stabilized by a local feedback controller and a command center that indicates the reference set-point the plant should follow. Typically, these systems are subject to limitations such as…

To solve unmodeled optimization problems with hard constraints, this paper proposes a novel zeroth-order approach called Safe Zeroth-order Optimization using Linear Programs (SZO-LP). The SZO-LP method solves a linear program in each…

Long-horizon whole-body humanoid teleoperation remains challenging due to accumulated global pose drift, particularly on full-sized humanoids. Although recent learning-based tracking methods enable agile and coordinated motions, they…

In this research, we aim to answer the question: How to combine Closed-Loop State and Input Sensitivity-based with Observability-aware trajectory planning? These possibly opposite optimization objectives can be used to improve trajectory…

Popular machine learning approaches forgo second-order information due to the difficulty of computing curvature in high dimensions. We present FOSI, a novel meta-algorithm that improves the performance of any base first-order optimizer by…

We present a three-step method to perform system identification and optimal control of non-linear systems. Our approach is mainly data driven and does not require active excitation of the system to perform system identification. In…

Low cost robots, such as vacuum cleaners or lawn mowers employ simplistic and often random navigation policies. Although a large number of sophisticated mapping and planning approaches exist, they require additional sensors like LIDAR…

First-order iterative optimization methods play a fundamental role in large scale optimization and machine learning. This paper presents control interpretations for such optimization methods. First, we give loop-shaping interpretations for…

The problem of step tracking control with a switching input and without any continuous-valued inputs is considered. The control objective is to reduce the number of switchings to a minimal value. This approach finds interesting applications…

Humans naturally integrate vision and haptics for robust object perception during manipulation. The loss of either modality significantly degrades performance. Inspired by this multisensory integration, prior object pose estimation research…

First-order optimization methods have attracted a lot of attention due to their practical success in many applications, including in machine learning. Obtaining convergence guarantees and worst-case performance certificates for first-order…

The choice of coordinate system in a bearings-only (BO) tracking problem influences the methods used to observe and predict the state of a moving target. Modified Polar Coordinates (MPC) and Log-Polar Coordinates (LPC) have some advantages…

High-altitude balloons (HABs) are common in scientific research due to their wide range of applications and low cost. Because of their nonlinear, underactuated dynamics and the partial observability of wind fields, prior work has largely…

The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…

Gesture tracking technology provides users with a hands free interactive experience without the need to hold or touch devices. However, current gesture tracking research has primarily focused on tracking accuracy while neglecting issues of…