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Multi-agent reinforcement learning is difficult to be applied in practice, which is partially due to the gap between the simulated and real-world scenarios. One reason for the gap is that the simulated systems always assume that the agents…

Underactuated systems like sea vessels have degrees of motion that are insufficiently matched by a set of independent actuation forces. In addition, the underlying trajectory-tracking control problems grow in complexity in order to decide…

Meta-reinforcement learning (meta-RL) algorithms enable agents to adapt quickly to tasks from few samples in dynamic environments. Such a feat is achieved through dynamic representations in an agent's policy network (obtained via reasoning…

While classic control theory offers state of the art solutions in many problem scenarios, it is often desired to improve beyond the structure of such solutions and surpass their limitations. To this end, residual policy learning (RPL)…

Safe reinforcement learning has traditionally relied on predefined constraint functions to ensure safety in complex real-world tasks, such as autonomous driving. However, defining these functions accurately for varied tasks is a persistent…

Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…

Deep reinforcement learning (DRL) has emerged as a powerful paradigm for solving complex decision-making problems. However, DRL-based systems still face significant dependability challenges particularly in real-time environments due to the…

Multi-Agent Reinforcement Learning (MARL) has emerged as a powerfulparadigm for cooperative decision-making in connected autonomous vehicles(CAVs); however, existing approaches often fail to guarantee stability, optimality,and…

An MPC controller uses a model of the dynamical system to plan an optimal control strategy for a finite horizon, which makes its performance intrinsically tied to the quality of the model. When faults occur, the compromised model will…

Data-driven control offers a viable option for control scenarios where constructing a system model is expensive or time-consuming. Nonetheless, many of these algorithms are not entirely automated, often necessitating the adjustment of…

Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…

We present an online multi-task learning approach for adaptive nonlinear control, which we call Online Meta-Adaptive Control (OMAC). The goal is to control a nonlinear system subject to adversarial disturbance and unknown…

Model-Agnostic Meta-Learning (MAML) is a versatile meta-learning framework applicable to both supervised learning and reinforcement learning (RL). However, applying MAML to meta-reinforcement learning (meta-RL) presents notable challenges.…

In this paper, we propose an adaptive event-triggered reinforcement learning control for continuous-time nonlinear systems, subject to bounded uncertainties, characterized by complex interactions. Specifically, the proposed method is…

This article proposes a Model Reference Adaptive Control (MRAC) strategy to achieve fixed-time convergence of parameter estimation and tracking errors for unknown linear time-invariant systems, without relying on the persistence of…

We consider the problem of online control of systems with time-varying linear dynamics. This is a general formulation that is motivated by the use of local linearization in control of nonlinear dynamical systems. To state meaningful…

Continual learning (CL) enables the development of models and agents that learn from a sequence of tasks while addressing the limitations of standard deep learning approaches, such as catastrophic forgetting. In this work, we investigate…

This paper proposes an Adaptive Learning Model Predictive Control strategy for uncertain constrained linear systems performing iterative tasks. The additive uncertainty is modeled as the sum of a bounded process noise and an unknown…

Most reinforcement learning (RL) methods only focus on learning a single task from scratch and are not able to use prior knowledge to learn other tasks more effectively. Context-based meta RL techniques are recently proposed as a possible…

Metamorphic Testing is a software testing paradigm which aims at using necessary properties of a system-under-test, called metamorphic relations, to either check its expected outputs, or to generate new test cases. Metamorphic Testing has…