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We employ the proximal averaged Newton-type method for optimal control (PANOC) to solve obstacle avoidance problems in real time. We introduce a novel modeling framework for obstacle avoidance which allows us to easily account for generic,…

Output reference tracking can be improved by iteratively learning from past data to inform the design of feedforward control inputs for subsequent tracking attempts. This process is called iterative learning control (ILC). This article…

Type 1 Diabetes (T1D) management is a complex task due to many variability factors. Artificial Pancreas (AP) systems have alleviated patient burden by automating insulin delivery through advanced control algorithms. However, the…

This work proposes a control-informed reinforcement learning (CIRL) framework that integrates proportional-integral-derivative (PID) control components into the architecture of deep reinforcement learning (RL) policies. The proposed…

Reconstructing unknown external source functions is an important perception capability for a large range of robotics domains including manipulation, aerial, and underwater robotics. In this work, we propose a Physics-Informed Neural Network…

Unknown nonlinear dynamics can limit the performance of model-based feedforward control. The aim of this paper is to develop a feedforward control framework for systems with unknown, typically nonlinear, dynamics. To address the unknown…

Model Predictive Control (MPC) is a state-of-the-art (SOTA) control technique which requires solving hard constrained optimization problems iteratively. For uncertain dynamics, analytical model based robust MPC imposes additional…

Proportional-Integral-Differential (PID) control is widely used in industrial control systems. However, up to now there are at least two open problems related with PID control. One is to have a comprehensive understanding of its robustness…

Driven by the flexible manufacturing trend in the process control industry and the uncertain nature of chemical process models, this article aims to achieve offset-free tracking for a family of uncertain nonlinear systems (e.g., using…

Nonlinear Model Predictive Control (NMPC) is a precise controller, but its heavy computational load often prevents application in robotic systems. Some studies have attempted to approximate NMPC using deep neural networks (NMPC-DNN).…

Deep learning has achieved great success in modeling dynamical systems, providing data-driven simulators to predict complex phenomena, even without known governing equations. However, existing models have two major limitations: their narrow…

As an alternative to both classical PID-type and modern model-based approaches to solving control problems, active disturbance rejection control (ADRC) has gained significant traction in recent years. With its simple tuning method and…

Classical PID control is widely applied in an engineering system, with parameter regulation relying on a method like Trial - Error Tuning or the Ziegler - Nichols rule, mainly for a Single - Input Single - Output (SISO) system. However, the…

In processing and manufacturing industries, there has been a large push to produce higher quality products and ensure maximum efficiency of processes. This requires approaches to effectively detect and resolve disturbances to ensure optimal…

Reinforcement learning has been successfully applied to the problem of tuning PID controllers in several applications. The existing methods often utilize function approximation, such as neural networks, to update the controller parameters…

Variational quantum algorithms (VQAs) combine the advantages of classical optimization and quantum computation, making them one of the most promising approaches in the Noisy Intermediate-Scale Quantum (NISQ) era. However, when optimized…

Physics-Informed Neural Networks (PINNs) have enabled significant improvements in modelling physical processes described by partial differential equations (PDEs). PINNs are based on simple architectures, and learn the behavior of complex…

Solving nonlinear optimal control problems is a challenging task, particularly for high-dimensional problems. We propose algorithms for model-based policy iterations to solve nonlinear optimal control problems with convergence guarantees.…

Physics-informed neural networks (PINNs) have recently received much attention due to their capabilities in solving both forward and inverse problems. For training a deep neural network associated with a PINN, one typically constructs a…

Parametric optimal control problems governed by partial differential equations (PDEs) are widely found in scientific and engineering applications. Traditional grid-based numerical methods for such problems generally require repeated…