Related papers: Composite learning control with modular backsteppi…
We present differentiable predictive control (DPC), a method for learning constrained neural control policies for linear systems with probabilistic performance guarantees. We employ automatic differentiation to obtain direct policy…
This paper develops a Closed-Loop Error Learning Control (CLELC) algorithm for feedback linearizable systems with experimental validation on a mobile robot. Traditional feedback and feedforward controllers are designed based on the nominal…
This paper proposes a composite adaptive control architecture using dual adaptation scheme for dynamical systems comprising time-varying uncertain parameters. While majority of the adaptive control schemes in literature address the case of…
State-of-the-art pre-trained image models predominantly adopt a two-stage approach: initial unsupervised pre-training on large-scale datasets followed by task-specific fine-tuning using Cross-Entropy loss~(CE). However, it has been…
In this paper, we present the combined learning-and-control (CLC) approach, which is a new way to solve optimal control problems with unknown dynamics by unifying model-based control and data-driven learning. The key idea is simple: we…
Adaptive control can be applied to robotic systems with parameter uncertainties, but improving its performance is usually difficult, especially under discontinuous friction. Inspired by the human motor learning control mechanism, an…
Learning-based model predictive control (MPC) is an approach designed to reduce the computational cost of MPC. In this paper, a constrained deep neural network (DNN) design is proposed to learn MPC policy for nonlinear systems. Using…
In this paper we present a Learning Model Predictive Control (LMPC) strategy for linear and nonlinear time optimal control problems. Our work builds on existing LMPC methodologies and it guarantees finite time convergence properties for the…
Contraction-Based Nonlinear Model Predictive Control (NMPC) formulations are attractive because of the generally short prediction horizons they require and the needless use of terminal set computation that are commonly necessary to…
This paper presents a systematic approach to nonlinear state-feedback control design that has three main advantages: (i) it ensures exponential stability and $ \mathcal{L}_2 $-gain performance with respect to a user-defined set of reference…
Safe learning of control policies remains challenging, both in optimal control and reinforcement learning. In this article, we consider safe learning of parametrized predictive controllers that operate with incomplete information about the…
Concurrent learning is a recently developed adaptive update scheme that can be used to guarantee parameter convergence without requiring persistent excitation. However, this technique requires knowledge of state derivatives, which are…
We propose an iterative approach for designing Robust Learning Model Predictive Control (LMPC) policies for a class of nonlinear systems with additive, unmodelled dynamics. The nominal dynamics are assumed to be difference flat, i.e., the…
We present a sample-based Learning Model Predictive Controller (LMPC) for constrained uncertain linear systems subject to bounded additive disturbances. The proposed controller builds on earlier work on LMPC for deterministic systems.…
We propose a robust adaptive Model Predictive Control (MPC) strategy with online set-based estimation for constrained linear systems with unknown parameters and bounded disturbances. A sample-based test applied to predicted trajectories is…
This paper presents a novel Learning-based Model Predictive Contouring Control (L-MPCC) algorithm for evasive manoeuvres at the limit of handling. The algorithm uses the Student-t Process (STP) to minimise model mismatches and uncertainties…
A novel method of exponentially stable adaptive control to compensate for matched parametric uncertainty under a mild condition of semi-persistent excitation (s-PE) of a regressor with piecewise-constant rank and nullspace is proposed. It…
This work proposes a two-layered control scheme for constrained nonlinear systems represented by a class of recurrent neural networks and affected by additive disturbances. In particular, a base controller ensures global or regional…
In this paper, we propose an online learning-based predictive control (LPC) approach designed for nonlinear systems that lack explicit system dynamics. Unlike traditional model predictive control (MPC) algorithms that rely on known system…
We consider output-feedback stabilization problems for a class of two-component linear parabolic systems with boundary actuation and measurement. The state-feedback control laws are obtained using backstepping method and require measurement…