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Reinforcement learning (RL) has demonstrated remarkable capability in acquiring robot skills, but learning each new skill still requires substantial data collection for training. The pretrain-and-finetune paradigm offers a promising…
We detail in this article the necessity of a change of paradigm for the delay-robust control of systems composed of two linear first order hyperbolic equations. One must go back to the classical trade-off between convergence rate and…
Preceptron model updating with back propagation has become the routine of deep learning. Continuous feed forward procedure is required in order for backward propagate to function properly. Doubting the underlying physical interpretation on…
This work studies the design problem of feedback stabilizers for discrete-time systems with input delays. A backstepping procedure is proposed for disturbance-free discrete-time systems. The feedback law designed by using backstepping…
Collective motions emerging from the interaction of autonomous mobile individuals play a key role in many phenomena, from the growth of bacterial colonies to the coordination of robotic swarms. For these collective behaviours to take hold,…
Recent years have seen a great increase in the capacity and parallel processing power of data centers and cloud services. To fully utilize the said distributed systems, optimal load balancing for parallel queuing architectures must be…
Traditional linear control strategies have been extensively researched and utilized in many robotic and industrial applications and yet they do not respond to the total dynamics of the systems. To avoid tedious calculations for nonlinear…
This paper presents an admittance controller based on the passivity theory for a powered upper-limb exoskeleton robot which is governed by the nonlinear equation of motion. Passivity allows us to include a human operator and environmental…
In robotic systems, perception latency is a term that refers to the computing time measured from the data acquisition to the moment in which perception output is ready to be used to compute control commands. There is a compromise between…
Accurate delay models are important for static and dynamic timing analysis of digital circuits, and mandatory for formal verification. However, F\"ugger et al. [IEEE TC 2016] proved that pure and inertial delays, which are employed for…
If embedded with command filter properly, the implementation of backstepping design could be dramatically simplified. In this paper, we introduce a command filter with time-varying gain and integrate it with backstepping design, resulting…
Tracking performance of physical-model-based feedforward control for interventional X-ray systems is limited by hard-to-model parasitic nonlinear dynamics, such as cable forces and nonlinear friction. In this paper, these nonlinear dynamics…
We propose a learning-based robust predictive control algorithm that compensates for significant uncertainty in the dynamics for a class of discrete-time systems that are nominally linear with an additive nonlinear component. Such systems…
This work presents a technique for learning systems, where the learning process is guided by knowledge of the physics of the system. In particular, we solve the problem of the two-point boundary optimal control problem of linear…
Deep neural networks that approximate nonlinear function-to-function mappings, i.e., operators, which are called DeepONet, have been demonstrated in recent articles to be capable of encoding entire PDE control methodologies, such as…
This paper presents a learning-based approach for impromptu trajectory tracking for non-minimum phase systems, i.e., systems with unstable inverse dynamics. Inversion-based feedforward approaches are commonly used for improving tracking…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
A theory of time-delayed coherent quantum feedback is developed. More specifically, we consider a quantum system coupled to a bosonic reservoir creating a unidirectional feedback loop. It is shown that the dynamics can be mapped onto a…
The paper addresses the exact linearization of flat nonlinear discrete-time systems by generalized static or dynamic feedbacks which may also depend on forward-shifts of the new input. We first investigate the question which forward-shifts…
We consider a robust stabilization of the fourth-order oscillatory systems with non-collocated output sensing. Worth recalling is that the fourth-order systems are relatively common in mechatronics as soon as there are two-mass or more…