Related papers: Control-Affine Extremum Seeking Control with Atten…
This paper discusses the design of an extremum seeking controller that relies on a monitoring function for a class of SISO uncertain nonlinear systems characterized by arbitrary and uncertain relative degree. Our demonstration illustrates…
In this paper, stochastic optimal control problems in continuous time and space are considered. In recent years, such problems have received renewed attention from the lens of reinforcement learning (RL) which is also one of our motivation.…
A number of important modern applications in optimal control can be formulated as open loop control problems in which the underlying dynamical systems are subject to random inputs. These so-called ensemble control problems require the…
In this paper, we present a novel Newton-based extremum seeking controller for the solution of multivariable model-free optimization problems in static maps. Unlike existing asymptotic and fixed-time results in the literature, we present a…
We study convergence and stability properties of control-affine systems. Our considerations are motivated by the problem of stabilizing a control-affine system by means of output feedback for states in which the output function attains an…
In this paper, we propose and practically evaluate a class of gradient-free control functions ensuring the motion of a unicycle-type system towards the extremum point of a time-varying cost function. We prove that the unicycle is able to…
In this study, we address the challenges associated with accurately determining gaze location on a screen, which is often compromised by noise from factors such as eye tracker limitations, calibration drift, ambient lighting changes, and…
This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie…
In this paper, we propose an adaptive control law for completely unknown scalar linear systems based on Lie-bracket approximation methods. We investigate stability and convergence properties for the resulting Lie-bracket system, compare our…
We formulate the discrete-time inverse optimal control problem of inferring unknown parameters in the objective function of an optimal control problem from measurements of optimal states and controls as a nonlinear filtering problem. This…
With the rapid development of industry, the vibration control of flexible structures and underactuated systems has been increasingly gaining attention. Input shaping technology enables stable performance for high-speed motion in industrial…
This paper addresses the design and analysis of an extremum-seeking (ES) controller for scalar static maps in the context of infinite-dimensional dynamics governed by complex-valued partial differential equations (PDEs) of Schrodinger type.…
This paper presents a rigorous finite element framework for solving an optimal control problem governed by the steady Navier-Stokes-Brinkman equations, focusing on identifying a scalar permeability parameter $\gamma$ from local velocity…
Many optimal and robust control problems are nonconvex and potentially nonsmooth in their policy optimization forms. In Part II of this paper, we introduce a new and unified Extended Convex Lifting (ECL) framework to reveal hidden convexity…
This work proposes a novel Alternating Direction Method of Multipliers (ADMM)-based Ensemble Kalman Inversion (EKI) algorithm for solving constrained nonlinear model predictive control (NMPC) problems. First, stage-wise nonlinear inequality…
This paper proposes the incorporation of static event-triggered control in the actuation path of Newton-based extremum seeking and its comparison with the earlier gradient version. As in the continuous methods, the convergence rate of the…
Limitations of the delayed feedback control and of its extended versions have been fully treated in the literature. The oscillating delayed feedback control appears as a promising scheme to overcome this problem. In this work, two methods…
The extended state observer (ESO) plays an important role in the design of feedback control for nonlinear systems. However, its high-gain nature creates a challenge in engineering practice in cases where the output measurement is corrupted…
This paper presents a methodology for Practically Safe Extremum Seeking (PSfES), designed to optimize unknown objective functions while strictly enforcing safety constraints via a Logarithmic Barrier Function (LBF). Unlike traditional…
Extreme event are sudden large-amplitude changes in the state or observables of chaotic nonlinear systems, which characterize many scientific phenomena. Because of their violent nature, extreme events typically have adverse consequences,…