Related papers: State Constrained Model Reference Adaptive Control…

This paper proposes an on-policy reinforcement learning (RL) control algorithm that solves the optimal regulation problem for a class of uncertain continuous-time nonlinear systems under user-defined state constraints. We formulate the safe…

Model-based Reinforcement Learning (MBRL) has shown many desirable properties for intelligent control tasks. However, satisfying safety and stability constraints during training and rollout remains an open question. We propose a new…

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…

This paper introduces the Progressive Barrier Lyapunov Function (p-BLF) for output- and full-state-constrained nonlinear control systems. Unlike traditional BLF methods, where control effort continuously increases as the state approaches…

Traditional control theory-based methods require tailored engineering for each system and constant fine-tuning. In power plant control, one often needs to obtain a precise representation of the system dynamics and carefully design the…

This paper proposes an adaptive neural network-based backstepping controller that uses rigid graph theory to address the distance-based formation control problem and target tracking for nonlinear multi-agent systems with bounded time-delay…

This paper addresses frequency regulation under operational constraints in interconnected power systems with high penetration of inverter-based renewable generation. A two-layer control architecture is proposed that combines optimized droop…

We propose a robust adaptive online synchronization method for leader-follower networks of nonlinear heterogeneous agents with system uncertainties and input magnitude saturation. Synchronization is achieved using a Distributed input…

This paper develops a model-based reinforcement learning (MBRL) framework for learning online the value function of an infinite-horizon optimal control problem while obeying safety constraints expressed as control barrier functions (CBFs).…

In this paper, we present a hybrid direct-indirect model reference adaptive controller (MRAC), to address a class of problems with matched and unmatched uncertainties. In the proposed architecture, the unmatched uncertainty is estimated…

In this paper, a novel online, output-feedback, critic-only, model-based reinforcement learning framework is developed for safety-critical control systems operating in complex environments. The developed framework ensures system stability…

The primary purpose of this article is to accomplish safe grasping task by means of dual one-link flexible manipulators. In order to design a force-sensor-less force control, the direct force control problem is reduced to common motion…

In this paper, a two-stage intelligent scheduler is proposed to minimize the packet-level delay jitter while guaranteeing delay bound. Firstly, Lyapunov technology is employed to transform the delay-violation constraint into a sequential…

To address feasibility issues in model predictive control (MPC), most implementations relax state constraints by using slack variables and adding a penalty to the cost. We propose an alternative strategy: relaxing the initial state…

The goal of many applications in energy and transport sectors is to control turbulent flows. However, because of chaotic dynamics and high dimensionality, the control of turbulent flows is exceedingly difficult. Model-free reinforcement…

Model information can be used to predict future trajectories, so it has huge potential to avoid dangerous region when implementing reinforcement learning (RL) on real-world tasks, like autonomous driving. However, existing studies mostly…

This paper presents a safe feedback control framework for nonlinear control-affine systems with parametric uncertainty by leveraging adaptive dynamic programming (ADP) with barrier-state augmentation. The developed ADP-based controller…

Reinforcement Learning (RL) controllers have generated excitement within the control community. The primary advantage of RL controllers relative to existing methods is their ability to optimize uncertain systems independently of explicit…

Data-driven controllers design is an important research problem, in particular when data is corrupted by the noise. In this paper, we propose a data-driven min-max model predictive control (MPC) scheme using noisy input-state data for…

Networked control strategies based on limited information about the plant model usually results in worse closed-loop performance than optimal centralized control with full plant model information. Recently, this fact has been established by…