Related papers: 'Constant in gain Lead in phase' element - Applica…
This paper studies the infinite-horizon adaptive optimal control of continuous-time linear periodic (CTLP) systems. A novel value iteration (VI) based off-policy ADP algorithm is proposed for a general class of CTLP systems, so that…
LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…
Class-incremental learning (CIL) aims to enable models to continuously learn new classes while overcoming catastrophic forgetting. The introduction of pre-trained models has brought new tuning paradigms to CIL. In this paper, we revisit…
Inspired by biological motion generation, central pattern generators (CPGs) is frequently employed in legged robot locomotion control to produce natural gait pattern with low-dimensional control signals. However, the limited adaptability…
Safe navigation in complex environments remains a central challenge for reinforcement learning (RL) in robotics. This paper introduces Continuous Space-Time Empowerment for Physics-informed (C-STEP) safe RL, a novel measure of agent-centric…
Practical design and tuning of feedback controllers has often to get by without a model of the dynamic process at hand. Only some general assumptions about the system dynamics, in this work type-one stable, can be available for engineers,…
This paper presents a novel method for learning reward functions for robotic motions by harnessing the power of a CLIP-based model. Traditional reward function design often hinges on manual feature engineering, which can struggle to…
The objective of this paper is to derive the essential invariance and contraction properties for the geometric periodic systems, which can be formulated as a category of differential inclusions, and primarily rendered in the phase…
A general adaptive refinement strategy for solving linear elliptic partial differential equation with random data is proposed and analysed herein. The adaptive strategy extends the a posteriori error estimation framework introduced by…
The growing scale and complexity of safety-critical control systems underscore the need to evolve current control architectures aiming for the unparalleled performances achievable through state-of-the-art optimization and machine learning…
This paper presents a nonlinear integrated guidance and control (IGC) approach for flexible leader-follower formation flight of fixed-wing unmanned aerial vehicles (UAVs) while accounting for high-fidelity aerodynamics and thrust dynamics.…
Learning the flows of hybrid systems that have both continuous and discrete time dynamics is challenging. The existing method learns the dynamics in each discrete mode, which suffers from the combination of mode switching and…
The canonical proportional-integral-derivative (PID) control approach has been widely used in industrial application due to their simplicity and ease of use. However, its corresponding controller parameters are hard to be adjusted,…
We incorporate deep learning (DL) into coherent beam combining (CBC) systems for the first time, to the best of our knowledge. Using a well-trained convolutional neural network DL model, the phase error in CBC systems could be accurately…
The Linear Parameter-Varying (LPV) framework has been introduced with the intention to provide stability and performance guarantees for analysis and controller synthesis for Nonlinear (NL) systems via convex methods. By extending results of…
We use Reinforcement Meta Learning to optimize an adaptive guidance system suitable for the approach phase of a gliding hypersonic vehicle. Adaptability is achieved by optimizing over a range of off-nominal flight conditions including…
A complex digital circuit comprises of adder as a basic unit. The performance of the circuit depends on the design of this basic adder unit. The speed of operation of a circuit is one of the important performance criteria of many digital…
In this paper, a new model based nonlinear control technique, called PID (Proportional-Integral-Derivative) type sliding surface based sliding mode control is designed using improved reaching law. To improve the performance of the second…
A novel grating modulation technique for laser arrays is proposed and demonstrated. This method modifies the initial phase within each grating period, applying a total phase shift that increments in an arithmetic progression, ensuring equal…
The air-gap macro element is reformulated such that rotation, rotor or stator skewing and rotor eccentricity can be incorporated easily. The air-gap element is evaluated using Fast Fourier Transforms which in combination with the Conjugate…