相关论文: Actor-Critic Reinforcement Learning for Control wi…

Deep reinforcement learning (DRL) is a machine learning-based method suited for complex and high-dimensional control problems. In this study, a real-time control system based on DRL is developed for long-term voltage stability events. The…

The notion of the relaxed Robust Control Lyapunov Function (relaxed RCLF) is introduced and is exploited for the design of robust feedback stabilizers for nonlinear systems. Particularly, it is shown for systems with input constraints that…

We develop data-driven reinforcement learning (RL) control designs for input-affine nonlinear systems. We use Carleman linearization to express the state-space representation of the nonlinear dynamical model in the Carleman space, and…

Although Reinforcement Learning (RL) is effective for sequential decision-making problems under uncertainty, it still fails to thrive in real-world systems where risk or safety is a binding constraint. In this paper, we formulate the RL…

This paper presents a novel Lyapunov-Based Quantum Reinforcement Learning (LQRL) framework that integrates quantum policy optimization with Lyapunov stability analysis for continuous-time vehicle control. The proposed approach combines the…

We present a new method for learning control law that stabilizes an unknown nonlinear dynamical system at an equilibrium point. We formulate a system identification task in a self-supervised learning setting that jointly learns a controller…

Automated vehicle control using reinforcement learning (RL) has attracted significant attention due to its potential to learn driving policies through environment interaction. However, RL agents often face training challenges in sample…

Control contraction metrics (CCMs) provide a framework to co-synthesize a controller and a corresponding contraction metric -- a positive-definite Riemannian metric under which a closed-loop system is guaranteed to be incrementally…

Reinforcement learning (RL) offers a compelling data-driven paradigm for synthesizing controllers for complex systems when accurate physical models are unavailable; however, most existing control-oriented RL methods assume stationarity and,…

The large-scale integration of intermittent renewable energy resources introduces increased uncertainty and volatility to the supply side of power systems, thereby complicating system operation and control. Recently, data-driven approaches,…

The application of reinforcement learning to safety-critical systems is limited by the lack of formal methods for verifying the robustness and safety of learned policies. This paper introduces a novel framework that addresses this gap by…

Stability certification and identifying a safe and stabilizing initial set are two important concerns in ensuring operational safety, stability, and robustness of dynamical systems. With the advent of machine-learning tools, these issues…

Finding a control Lyapunov function (CLF) in a dynamical system with a controller is an effective way to guarantee stability, which is a crucial issue in safety-concerned applications. Recently, deep learning models representing CLFs have…

End-to-end models for autonomous driving hold the promise of learning complex behaviors directly from sensor data, but face critical challenges in safety and handling long-tail events. Reinforcement Learning (RL) offers a promising path to…

Reinforcement Learning (RL) has achieved remarkable success in solving complex sequential decision-making problems. However, its application to safety-critical physical systems remains constrained by the lack of stability guarantees.…

We consider an improper reinforcement learning setting where a learner is given $M$ base controllers for an unknown Markov decision process, and wishes to combine them optimally to produce a potentially new controller that can outperform…

Learning for control of dynamical systems with formal guarantees remains a challenging task. This paper proposes a learning framework to simultaneously stabilize an unknown nonlinear system with a neural controller and learn a neural…

This paper proposes a safe reinforcement learning (RL) algorithm that approximately solves the state-constrained optimal control problem for continuous-time uncertain nonlinear systems. We formulate the safe RL problem as the minimization…

Electric motors are crucial in many applications, but traditional control methods struggle with nonlinearities, parameter uncertainties, and external disturbances. Reinforcement Learning (RL) offers a promising solution as a data-driven…

Reinforcement Learning (RL) has emerged as an efficient method of choice for solving complex sequential decision making problems in automatic control, computer science, economics, and biology. In this paper we present a model-free RL…