相关论文: Least squares dynamics in Newton-Krylov Model Pred…
This paper presents a novel framework for stabilizing nonlinear systems represented in state-dependent form. We first reformulate the nonlinear dynamics as a state-dependent parameter-varying model and synthesize a stabilizing controller…
This work develops a stochastic model predictive controller~(SMPC) for uncertain linear systems with additive Gaussian noise subject to state and control constraints. The proposed approach is based on the recently developed finite-horizon…
A novel least-squares model-reference direct adaptive control (LS-MRAC) algorithm for multivariable (MIMO) plants is presented. The controller parameters are directly updated based on the output tracking error. The control law is crucially…
This paper introduces a family of iterative algorithms for unconstrained nonlinear optimal control. We generalize the well-known iLQR algorithm to different multiple-shooting variants, combining advantages like straight-forward…
Stochastic extensions of the Schrodinger equation have attracted attention recently as plausible models for state reduction in quantum mechanics. Here we formulate a general approach to stochastic Schrodinger dynamics in the case of a…
This chapter offers a comprehensive introduction to the least-squares neural network (LSNN) method introduced in [14,16], for solving scalar first-order hyperbolic partial differential equations, specifically linear advection-reaction…
Control contraction metrics (CCMs) are a new approach to nonlinear control design based on contraction theory. The resulting design problems are expressed as pointwise linear matrix inequalities and are and well-suited to solution via…
In this paper we consider a nonconvex unconstrained optimization problem minimizing a twice differentiable objective function with H\"older continuous Hessian. Specifically, we first propose a Newton-conjugate gradient (Newton-CG) method…
We develop a novel randomized conjugate gradient least squares (RCGLS) method for solving least-squares problems, in which iterative sketching is employed at each step to reduce the dimension and hence the computational cost. In particular,…
Higher order necessary conditions for a minimizer of an optimal control problem are generally obtained for systems whose dynamics is at least continuously differentiable in the state variable. Here, by making use of the notion of set-valued…
Least squares method is one of the simplest and most popular techniques applied in data fitting, imaging processing and high dimension data analysis. The classic methods like QR and SVD decomposition for solving least squares problems has a…
The parallel strong-scaling of Krylov iterative methods is largely determined by the number of global reductions required at each iteration. The GMRES and Krylov-Schur algorithms employ the Arnoldi algorithm for nonsymmetric matrices. The…
The paper addresses the model reduction problem for linear and nonlinear systems using the notion of least squares moment matching. For linear systems, the main idea is to approximate a transfer function by ensuring that the interpolation…
We present a local convergence analysis of the Gauss-Newton-Kurchatov method for solving nonlinear least squares problems with a decomposition of the operator. The method uses the sum of the derivative of the differentiable part of the…
The Bhatnagar-Gross-Krook (BGK) model, a simplification of the Boltzmann equation, in the absence of boundary effect, converges to the Euler equations when the Knudsen number is small. In practice, however, Knudsen layers emerge at the…
The quadratic optimal state feedback (LQR) is one of the most popular designs for linear systems and succeeds via the solution of the algebraic Riccati equation. The situation is different in the case of non-linear systems: the Riccati…
We propose a method for learning constraints represented as Gaussian processes (GPs) from locally-optimal demonstrations. Our approach uses the Karush-Kuhn-Tucker (KKT) optimality conditions to determine where on the demonstrations the…
In the construction of reduced-order models for dynamical systems, linear projection methods, such as proper orthogonal decompositions, are commonly employed. However, for many dynamical systems, the lower dimensional representation of the…
It is well known that in the presence of heteroscedasticity ordinary least squares estimator is not efficient. I propose a generalized automatic least squares estimator (GALS) that makes partial correction of heteroscedasticity based on a…
This paper presents a theoretical overview of a Neural Contraction Metric (NCM): a neural network model of an optimal contraction metric and corresponding differential Lyapunov function, the existence of which is a necessary and sufficient…