Related papers: Periodic Event-Triggered Explicit Reference Govern…
The defining characteristic of event-based control is that feedback loops are only closed when indicated by a triggering condition that takes recent information about the system into account. This stands in contrast to periodic control…
We introduce and analyze the stability of a class of event-triggered extremum-seeking algorithms designed to solve resource-aware, model-free, optimization problems. Leveraging recent advances in Lie-Bracket Averaging for hybrid systems, we…
Intersection crossing represents a bottleneck for transportation systems and Connected Autonomous Vehicles (CAVs) may be the groundbreaking solution to the problem. This work proposes a novel framework, i.e, AVOID-PERIOD, where an…
This paper presents a systematic approach to exponentially stabilize the periodic orbits of multi-domain hybrid systems arising from 3D bipedal walking. Firstly, the method of Poincare sections is extended to the hybrid systems with…
In this paper, we tackle the state transformation problem in non-strict full state-constrained systems by introducing an adaptive fixed-time control method, utilizing a one-to-one asymmetric nonlinear mapping auxiliary system. Additionally,…
We study a general class of PageRank optimization problems which consist in finding an optimal outlink strategy for a web site subject to design constraints. We consider both a continuous problem, in which one can choose the intensity of a…
While many event-triggered control strategies are available in the literature, most of them are designed ignoring the presence of measurement noise. As measurement noise is omnipresent in practice and can have detrimental effects, for…
We present a framework for model-free learning of event-triggered control strategies. Event-triggered methods aim to achieve high control performance while only closing the feedback loop when needed. This enables resource savings, e.g.,…
This paper develops a Time Shift Governor (TSG)-based control scheme to enforce constraints during rendezvous and docking (RD) missions in the setting of the Two-Body problem. As an add-on scheme to the nominal closed-loop system, the TSG…
This paper proposes a novel control architecture for state and input constrained Euler-Lagrange (E-L) systems with parametric uncertainties. A simple saturated controller is strategically coupled with a Barrier Lyapunov Function (BLF) based…
This article considers the stochastic optimal control of discrete-time linear systems subject to (possibly) unbounded stochastic disturbances, hard constraints on the manipulated variables, and joint chance constraints on the states. A…
Guaranteeing safe behavior on complex autonomous systems -- from cars to walking robots -- is challenging due to the inherently high dimensional nature of these systems and the corresponding complex models that may be difficult to determine…
For safe vision-based control applications, perception-related constraints have to be satisfied in addition to other state constraints. In this paper, we deal with the problem where a multirotor equipped with a camera needs to maintain the…
This paper addresses the problem of achieving secure consensus in a vehicular platoon using event-triggered control. The platoon consists of a leader and multiple follower vehicles exchanging their position and velocity information…
The attitude tracking problem for a full-actuated rigid body in 3D is studied using a impulsive system model based on Lie algebra so(3). A nonlinear homogeneous controller is designed to globally track a smooth attitude trajectory in a…
Experience replay (ER) is a crucial component of many deep reinforcement learning (RL) systems. However, uniform sampling from an ER buffer can lead to slow convergence and unstable asymptotic behaviors. This paper introduces Stratified…
We extend the method of controlled Lagrangians with kinetic shaping to those mechanical systems on semidirect product Lie groups with broken symmetry, more specifically to the Euler--Poincar\'e equations with advected parameters. We find a…
The energy shaping method, Controlled Lagrangian, is a well-known approach to stabilize the under-actuated Euler Lagrange (EL) systems. In this approach, to construct a control rule, some nonlinear, nonhomogeneous partial differential…
Task-free online continual learning aims to alleviate catastrophic forgetting of the learner on a non-iid data stream. Experience Replay (ER) is a SOTA continual learning method, which is broadly used as the backbone algorithm for other…
Composite adaptive control (CAC) that integrates direct and indirect adaptive control techniques can achieve smaller tracking errors and faster parameter convergence compared with direct and indirect adaptive control techniques. However,…