Related papers: Improving Action Smoothness for a Cascaded Online …
Linear dynamical systems that obey stochastic differential equations are canonical models. While optimal control of known systems has a rich literature, the problem is technically hard under model uncertainty and there are hardly any…
Modern robotic policies increasingly rely on action chunking to execute complex tasks in the physical world. While action chunking improves temporal consistency at moderate action frequencies, it becomes insufficient when the action…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
We introduce a new numerical method for solving time-harmonic acoustic scattering problems. The main focus is on plane waves scattered by smoothly varying material inhomogeneities. The proposed method works for any frequency $\omega$, but…
This paper proposes a Safe Online Control-Informed Learning framework for safety-critical autonomous systems. The framework unifies optimal control, parameter estimation, and safety constraints into an online learning process. It employs an…
Federated Learning (FL) is a promising approach for privacy-preserving network traffic analysis, but its practical deployment is challenged by the non-IID nature of real-world data. While prior work has addressed statistical heterogeneity,…
The integration of distributed energy resources (DERs) into sub-transmission systems has enabled new opportunities for flexibility provision in ancillary services such as frequency and voltage support, as well as congestion management. This…
The current work is concerned with studying processes for constructing reduced-order models capable of performing transonic aeroelastic stability analyses in the frequency domain based on computational fluid dynamics (CFD) techniques. The…
Image stylization has seen significant advancement and widespread interest over the years, leading to the development of a multitude of techniques. Extending these stylization techniques, such as Neural Style Transfer (NST), to videos is…
In this paper, the problem of output feedback sliding mode control of linear sampled-data multi-input multi-output systems is considered. Existing sliding mode control schemes can attenuate the influence of an external disturbance by…
In this paper, fractional order Coullet system is studied. An active control technique is applied to control this chaotic system. This type of controller is also applied to synchronize chaotic fractional-order systems in master-slave…
Frequency stability is fundamental to the secure operation of power systems. With growing uncertainty and volatility introduced by renewable generation, secondary frequency regulation must now deliver enhanced performance not only in the…
Although acrobatic flight control has been studied extensively, one key limitation of the existing methods is that they are usually restricted to specific maneuver tasks and cannot change flight pattern parameters online. In this work, we…
Motion trajectories offer reliable references for physics-based motion learning but suffer from sparsity, particularly in regions that lack sufficient data coverage. To address this challenge, we introduce a self-supervised, structured…
In this paper, a fixed-time safe control problem is investigated for an uncertain high-order nonlinear pure-feedback system with state constraints. A new nonlinear transformation function is firstly proposed to handle both the constrained…
We propose a supervised learning algorithm for machine learning applications. Contrary to the model developing in the classical methods, which treat training, validation, and test as separate steps, in the presented approach, there is a…
We study how to safely control nonlinear control-affine systems that are corrupted with bounded non-stochastic noise, i.e., noise that is unknown a priori and that is not necessarily governed by a stochastic model. We focus on safety…
This paper extends our previous study on an explicit saturated control for a quadcopter, which ensures both constraint satisfaction and stability thanks to the linear representation of the system in the flat output space. The novelty here…
This paper proposes a novel fuzzy cascaded Proportional-Derivative (PD) controller for under-actuated single-link flexible joint manipulators. The original flexible joint system is considered as two coupled $2^{nd}$-order sub-systems. The…
Current AI/ML methods for data-driven engineering use models that are mostly trained offline. Such models can be expensive to build in terms of communication and computing cost, and they rely on data that is collected over extended periods…