Related papers: Feasible-Set Reshaping for Constraint Qualificatio…
Control invariant set is critical for guaranteeing safe control and the problem of computing control invariant set for linear discrete-time system is revisited in this paper by using a data-driven approach. Specifically, sample points on…
This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…
In this paper, we propose a novel method for matrix completion under general non-uniform missing structures. By controlling an upper bound of a novel balancing error, we construct weights that can actively adjust for the non-uniformity in…
The control of flying qubits carried by itinerant photons is ubiquitous in quantum networks. Beside their logical states, the shape of flying qubits must also be tailored for high-efficiency information transmission. In this paper, we…
We propose a novel flexible-step model predictive control algorithm for unknown linear time-invariant discrete-time systems. The goal is to asymptotically stabilize the system without relying on a pre-collected dataset that describes its…
The paper proposes a control-theoretic framework for verification of numerical software systems, and puts forward software verification as an important application of control and systems theory. The idea is to transfer Lyapunov functions…
Simple, precise, and robust control is demanded for operating a large quantum information processor. However, existing routes to high-fidelity quantum control rely heavily on arbitrary waveform generators that are difficult to scale up.…
In this paper we study constraint qualifications and optimality conditions for bilevel programming problems. We strive to derive checkable constraint qualifications in terms of problem data and applicable optimality conditions. For the…
Contact-rich manipulation is challenging due to dynamically-changing physical constraints by the contact mode changes undergone during manipulation. This paper proposes a versatile local planning and control framework for contact-rich…
Model Predictive Control (MPC) is a successful control methodology, which is applied to increasingly complex systems. However, real-time feasibility of MPC can be challenging for complex systems, certainly when an (extremely) large number…
This paper considers the problem of designing a continuous-time dynamical system that solves a constrained nonlinear optimization problem and makes the feasible set forward invariant and asymptotically stable. The invariance of the feasible…
Large-scale integration of intermittent renewable energy sources calls for substantial demand side flexibility. Given that the built environment accounts for approximately 40% of total energy consumption in EU, unlocking its flexibility is…
In this paper, we present a method to initialize at a feasible point and unfailingly solve a non-convex optimization problem in which a set-point motion is planned for a multi-link manipulator under state and control constraints. We…
This paper presents a pioneering approach to solving the linear quadratic regulation (LQR) and linear quadratic tracking (LQT) problems with constrained inputs using a novel off-policy continuous-time Q-learning framework. The proposed…
This paper develops a new control design for guaranteeing a vehicle's safety during lane change maneuvers in a complex traffic environment. The proposed method uses a finite state machine (FSM), where a quadratic program based optimization…
A control system is called self-powered if the only energy it requires for operation is that which it absorbs from the plant. For a linear feedback law to be feasible for a self-powered control system, its feedback signal must be colocated…
The problem of achieving a good trade-off in Stochastic Model Predictive Control between the competing goals of improving the average performance and reducing conservativeness, while still guaranteeing recursive feasibility and low…
This paper proposes a method for enlarging the region of attraction of Linear Model Predictive Controllers (MPC) when tracking piecewise-constant references in the presence of pointwise-in-time constraints. It consists of an add-on unit,…
This paper is concerned with constructing an optimal controller in the coherent quantum Linear Quadratic Gaussian problem. A coherent quantum controller is itself a quantum system and is required to be physically realizable. The use of…
When compared to fault-tolerant quantum computational strategies, variational quantum algorithms stand as one of the candidates with the potential of achieving quantum advantage for real-world applications in the near term. However, the…