Related papers: Learning-based vs Model-free Adaptive Control of a…

Effective traffic control is essential for mitigating congestion in transportation networks. Conventional traffic management strategies, including route guidance and ramp metering, often rely on state feedback controllers, which are used…

Greenhouse climate control is concerned with maximizing performance in terms of crop yield and resource efficiency. One promising approach is model predictive control (MPC), which leverages a model of the system to optimize the control…

Classical autonomous navigation systems can control robots in a collision-free manner, oftentimes with verifiable safety and explainability. When facing new environments, however, fine-tuning of the system parameters by an expert is…

Proportional-integral-derivative (PID) control is the most widely used in industrial control, robot control and other fields. However, traditional PID control is not competent when the system cannot be accurately modeled and the operating…

Event-triggered communication and control provide high control performance in networked control systems without overloading the communication network. However, most approaches require precise mathematical models of the system dynamics,…

Autonomous unpowered flight is a challenge for control and guidance systems: all the energy the aircraft might use during flight has to be harvested directly from the atmosphere. We investigate the design of an algorithm that optimizes the…

This paper seeks to combine differential game theory with the actor-critic-identifier architecture to determine forward-in-time, approximate optimal controllers for formation tracking in multi-agent systems, where the agents have uncertain…

Fuzzy critic-based learning forms a reinforcement learning method based on dynamic programming. In this paper, an adaptive critic-based neuro-fuzzy system is presented for an unmanned bicycle. The only information available for the critic…

Aerial manipulators (AMs) are gaining increasing attention in automated transportation and emergency services due to their superior dexterity compared to conventional multirotor drones. However, their practical deployment is challenged by…

Model-free control strategies such as reinforcement learning have shown the ability to learn control strategies without requiring an accurate model or simulator of the world. While this is appealing due to the lack of modeling requirements,…

We consider the problem of discounted optimal state-feedback regulation for general unknown deterministic discrete-time systems. It is well known that open-loop instability of systems, non-quadratic cost functions and complex nonlinear…

Resonant power converters offer improved levels of efficiency and power density. In order to implement such systems, advanced control techniques are required to take the most of the power converter. In this context, model predictive control…

Learning for model based control can be sample-efficient and generalize well, however successfully learning models and controllers that represent the problem at hand can be challenging for complex tasks. Using inaccurate models for learning…

This study presents an Actor-Critic reinforcement learning Compensated Model Predictive Controller (AC2MPC) designed for high-speed, off-road autonomous driving on deformable terrains. Addressing the difficulty of modeling unknown…

Airborne Wind Energy is a lightweight technology that allows power extraction from the wind using airborne devices such as kites and gliders, where the airfoil orientation can be dynamically controlled in order to maximize performance. The…

A large part of the interest in model-based reinforcement learning derives from the potential utility to acquire a forward model capable of strategic long term decision making. Assuming that an agent succeeds in learning a useful predictive…

Adaptive control approaches yield high-performance controllers when a precise system model or suitable parametrizations of the controller are available. Existing data-driven approaches for adaptive control mostly augment standard…

Model-based reinforcement learning attempts to use an available or learned model to improve the data efficiency of reinforcement learning. This work proposes a one-step lookback approach that jointly learns the deep incremental model and…

The safe deployment of autonomous vehicles relies on their ability to effectively react to environmental changes. This can require maneuvering on varying surfaces which is still a difficult problem, especially for slippery terrains. To…

With the development of state-of-art deep reinforcement learning, we can efficiently tackle continuous control problems. But the deep reinforcement learning method for continuous control is based on historical data, which would make…