Related papers: iLQR for Piecewise-Smooth Hybrid Dynamical Systems
This paper focuses on studying orthogonal and non-orthogonal multiple access in intelligent reflecting surface (IRS)-aided systems. Unlike most prior works assuming continuous phase shifts, we employ the practical setup where only a finite…
Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can be feedback-linearized to a double integrator (e.g.,…
Q-learning methods are widely used in robot path planning but often face challenges of inefficient search and slow convergence. We propose an Improved Q-learning (IQL) framework that enhances standard Q-learning in two significant ways.…
An optimal control law for networked control systems with a discrete-time linear time-invariant (LTI) system as plant and networks between sensor and controller as well as between controller and actuator is proposed. This controller is…
This work addresses the problem of risk-sensitive control for nonlinear systems with imperfect state observations, extending results for the linear case. In particular, we derive an algorithm that can compute local solutions with…
This paper concerns the numerical procedure for solving hybrid optimal control problems with sliding modes. The proposed procedure has several features which distinguishes it from the other procedures for the problem. First of all a sliding…
Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human movements. However, they are often not robust and their…
This paper proposes a global iterative sliding mode control approach for high-precision contouring tasks of a flexure-linked biaxial gantry system. For such high-precision contouring tasks, it is the typical situation that the involved…
Curiosity as a means to explore during reinforcement learning problems has recently become very popular. However, very little progress has been made in utilizing curiosity for learning control. In this work, we propose a model-based…
This paper proposes a new method for differentiating through optimal trajectories arising from non-convex, constrained discrete-time optimal control (COC) problems using the implicit function theorem (IFT). Previous works solve a…
Inspired by REINFORCE, we introduce a novel receding-horizon algorithm for the Linear Quadratic Regulator (LQR) problem with unknown dynamics. Unlike prior methods, our algorithm avoids reliance on two-point gradient estimates while…
In this paper, an iterative method for real-time hybrid testing (RTHT) is proposed. The method seeks to iteratively balance the interface conditions between the physical and numerical substructures by controlling the periodic demand of the…
Multi-phase trajectories of aerospace vehicle systems involve multiple flight segments whose transitions may be triggered by boolean logic in continuous state variables, control and time. When the boolean logic is represented using only…
In this work, we use iterative Linear Quadratic Gaussian (iLQG) to plan motions for a mobile robot with range sensors in belief space. We address two limitations that prevent applications of iLQG to the considered robotic system. First,…
Sampling-based motion planners such as Rapidly-exploring Random Tree* (RRT*) and its informed variant IRRT* are widely used for optimal path planning in complex environments. However, these methods often suffer from slow convergence and…
Precise control of lower limb exoskeletons during sit-to-stand (STS) transitions remains a central challenge in rehabilitation robotics owing to the highly nonlinear, time-varying dynamics of the human-exoskeleton system and the stringent…
We introduce a new problem setting for continuous control called the LQR with Rich Observations, or RichLQR. In our setting, the environment is summarized by a low-dimensional continuous latent state with linear dynamics and quadratic…
This paper is concerned with the linear quadratic (LQ) optimal control of continuous-time system with terminal state constraint. In particular, multiple agents exist in the system which can only access partial information of the matrix…
The sliding mode approach is recognized as an efficient tool for treating the chattering behavior in hybrid systems. However, the amplitude of chattering, by its nature, is proportional to magnitude of discontinuous control. A possible…
This work solves suboptimal mixed-integer quadratic programs recursively for feedback control of dynamical systems. The proposed framework leverages parametric mixed-integer quadratic programming (MIQP) and hybrid systems theory to model a…