Related papers: Formally Verified Physics-Informed Neural Control …
Lyapunov redesign is a classical technique that uses a nominal control and its corresponding nominal Lyapunov function to design a discontinuous control, such that it compensates the uncertainties and disturbances. In this paper, the idea…
In this work, we introduce a novel data-driven model-reference control design approach for unknown linear systems with fully measurable state. The proposed control action is composed by a static feedback term and a reference tracking block,…
Without exact knowledge of the true system dynamics, optimal control of non-linear continuous-time systems requires careful treatment under epistemic uncertainty. In this work, we translate a probabilistic interpretation of the Pontryagin…
Training neural networks to satisfy universal constraints over continuous domains poses unique challenges. Common examples include Lyapunov Neural Networks (Lyapunov NNs) and Physics-Informed Neural Networks (PINNs), where analytical…
We develop a learning-based algorithm for the control of autonomous systems governed by unknown, nonlinear dynamics to satisfy user-specified spatio-temporal tasks expressed as signal temporal logic specifications. Most existing algorithms…
Reinforcement learning is showing great potentials in robotics applications, including autonomous driving, robot manipulation and locomotion. However, with complex uncertainties in the real-world environment, it is difficult to guarantee…
In this article, we present a new scheme that approximates unknown sensorimotor models of robots by using feedback signals only. The formulation of the uncalibrated sensor-based regulation problem is first formulated, then, we develop a…
This paper presents a two-stage framework for constrained near-optimal feedback control of input-affine nonlinear systems. An approximate value function for the unconstrained control problem is computed offline by solving the…
Physics-informed neural solvers offer a promising route to model-based reinforcement learning in continuous time, where optimal feedback synthesis is governed by Hamilton--Jacobi--Bellman (HJB) equations. Practical implementations often…
Manipulating three-dimensional (3D) deformable objects presents significant challenges for robotic systems due to their infinite-dimensional state space and complex deformable dynamics. This paper proposes a novel model-free approach for…
Physics-informed neural networks (PINNs) have recently become a popular method for solving forward and inverse problems governed by partial differential equations (PDEs). By incorporating the residual of the PDE into the loss function of a…
Constraint admissible positively invariant (CAPI) sets play a pivotal role in ensuring safety in control and planning applications, such as the recursive feasibility guarantee of explicit reference governor and model predictive control.…
Reliable high-fidelity quantum state transformation has always been considered as an inseparable part of quantum information processing. In this regard, Pontryagin maximum principle has proved to play an important role to achieve the…
The paper describes a novel method for studying the stability of nonautonomous dynamical systems. This method based on the flow and divergence of the vector field with coupling to the method of Lyapunov functions. The necessary and…
Finding Lyapunov functions to certify the stability of control systems has been an important topic for verifying safety-critical systems. Most existing methods on finding Lyapunov functions require access to the dynamics of the system.…
This paper first introduces a method to approximate the value function of high-dimensional optimal control by neural networks. Based on the established relationship between Pontryagin's maximum principle (PMP) and the value function of the…
This paper studies the design of controllers that guarantee stability and safety of nonlinear control affine systems with parametric uncertainty in both the drift and control vector fields. To this end, we introduce novel classes of robust…
Lyapunov functions play a vital role in the context of control theory for nonlinear dynamical systems. Besides its classical use for stability analysis, Lyapunov functions also arise in iterative schemes for computing optimal feedback laws…
In this paper quotients of control systems which are generalizations of system reductions are used to study the stabilizability property of non-linear systems. Given a control system and its quotient we study under what conditions…
In this paper, we consider the data-driven discovery of stable dynamical models with a single equilibrium. The proposed approach uses a basis-function parameterization of the differential equations and the associated Lyapunov function. This…