Related papers: Hybrid LQG-Neural Controller for Inverted Pendulum…
This work aims to combine machine learning and control approaches for legged robots, and developed a hybrid framework to achieve new capabilities of balancing against external perturbations. The framework embeds a kernel which is a fully…
Despite the numerous advances, reinforcement learning remains away from widespread acceptance for autonomous controller design as compared to classical methods due to lack of ability to effectively tackle the reality gap. The reliance on…
In this paper, we propose an approach to controller synthesis for a class of constrained nonlinear systems. It is based on the use of a hybridization, that is a hybrid abstraction of the nonlinear dynamics. This abstraction is defined on a…
Polar molecules, with their rich internal structure, offer immense potential for fundamental physics, quantum technology, and controlled chemistry. However, their utilization is currently limited because of slow and imperfect state…
The study of optimal control of quantum annealing by modulating the pace of evolution and by introducing a counterdiabatic potential has gained significant attention in recent times. In this work, we present a numerical approach based on…
A promising approach to optimal control of nonlinear systems involves iteratively linearizing the system and solving an optimization problem at each time instant to determine the optimal control input. Since this approach relies on online…
This paper proposes a new strategy for missile attitude control using a hybridization of Linear Quadratic Gaussian (LQG), Loop Transfer Recovery (LTR), and Linear Quadratic Integral (LQI) control techniques. The LQG control design is…
This paper is concerned with the Coherent Quantum Linear Quadratic Gaussian (CQLQG) control problem of finding a stabilizing measurement-free quantum controller for a quantum plant so as to minimize an infinite-horizon mean square…
In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control.…
The mathematical framework of hybrid system is a recent and general tool to treat control systems involving control action of heterogeneous nature. In this paper, we construct and test a semi-Lagrangian numerical scheme for solving the…
A fully analytical controller design is proposed to tackle a periodic control problem for stable linear systems with an input delay. Applying the internal model control scheme, the controller design reduces to designing a filter, which is…
The linear-quadratic regulator (LQR) is an efficient control method for linear and linearized systems. Typically, LQR is implemented in minimal coordinates (also called generalized or "joint" coordinates). However, other coordinates are…
This work newly establishes the feasibility and practical value of a sum of squares (SOS)-based stability verification procedure for applied control problems utilizing neural-network-based controllers (NNCs). It successfully verifies…
In this paper, we present a geometric approach for computing controlled invariant sets for hybrid control systems. While the problem is well studied in the ellipsoidal case, this family is quite conservative for constrained or switched…
A hierarchical control architecture is presented for energy-efficient control of legged robots subject to variety of linear/nonlinear inequality constraints such as Coulomb friction cones, switching unilateral contacts, actuator saturation…
In this paper, a method is presented to synthesize neural network controllers such that the feedback system of plant and controller is dissipative, certifying performance requirements such as L2 gain bounds. The class of plants considered…
We propose two new optimistic planning algorithms for nonlinear hybrid-input systems, in which the input has both a continuous and a discrete component, and the discrete component must respect a dwell-time constraint. Both algorithms select…
We present a new walking controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions of 3LP, the…
Quantum control is valuable for various quantum technologies such as high-fidelity gates for universal quantum computing, adaptive quantum-enhanced metrology, and ultra-cold atom manipulation. Although supervised machine learning and…
Animal sensorimotor behavior is frequently modeled using optimal controllers. However, it is unclear how the neural circuits within the animal's nervous system implement optimal controller-like behavior. In this work, we study the question…