相关论文: Combining Prior Knowledge and Data for Robust Cont…

Robust control design is mainly devoted to guarantee closed-loop stability of a model-based control law in presence of parametric and structural uncertainties. The control law is usually a complex feedback law which is derived from a…

Both fixed-gain control and adaptive learning architectures aim to mitigate the effects of uncertainties. In particular, fixed-gain control offers more predictable closed-loop system behavior but requires the knowledge of uncertainty…

Robotic systems often operate with uncertainties in their dynamics, for example, unknown inertial properties. Broadly, there are two approaches for controlling uncertain systems: design robust controllers in spite of uncertainty, or…

This paper introduces an uncertainty compensation-based robust adaptive model predictive control (MPC) framework for linear systems with nonlinear time-varying uncertainties. The framework integrates an L1 adaptive controller to compensate…

The paper presents a data-driven predictive control framework based on an implicit input-output mapping derived directly from the signal matrix of collected data. This signal matrix model is derived by maximum likelihood estimation with…

Predictive control can either be data-based (e.g. data-enabled predictive control, or DeePC) or model-based (model predictive control). In this paper we aim to bridge the gap between the two by investigating the case where only a partial…

Deep neural networks have become foundational to advancements in multiple domains, including recommendation systems, natural language processing, and so on. Despite their successes, these models often contain incompatible parameters that…

We propose a data-driven control method for systems with aleatoric uncertainty, for example, robot fleets with variations between agents. Our method leverages shared trajectory data to increase the robustness of the designed controller and…

Dynamical models identified from data are frequently employed in control system design. However, decoupling system identification from controller synthesis can result in situations where no suitable controller exists after a model has been…

This paper considers the robustness of an uncertain nonlinear system along a finite-horizon trajectory. The uncertain system is modeled as a connection of a nonlinear system and a perturbation. The analysis relies on three ingredients.…

Robust model predictive control algorithms are essential for addressing unavoidable errors due to the uncertainty in predicting real-world systems. However, the formulation of such algorithms typically results in a trade-off between…

With the increasing availability of diverse data types, particularly images and time series data from medical experiments, there is a growing demand for techniques designed to combine various modalities of data effectively. Our motivation…

We consider robust control synthesis for linear systems with complex specifications that are affected by uncertain disturbances. This work is motivated by autonomous systems interacting with partially known, time-varying environments. Given…

In this paper, a simple heuristic is proposed for the design of uncertainty aware predictive controllers for nonlinear models involving uncertain parameters. The method relies on Machine Learning-based approximation of ideal deterministic…

This work provides a framework for nonlinear model-free control of systems with unknown input-output dynamics, but outputs that can be controlled by the inputs. This framework leads to real-time control of the system such that a feasible…

Data-driven model predictive control (DD-MPC) based on Willems' Fundamental Lemma has received much attention in recent years, allowing to control systems directly based on an implicit data-dependent system description. The literature…

Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…

Reliable optimal control is challenging when the dynamics of a nonlinear system are unknown and only infrequent, noisy output measurements are available. This work addresses this setting of limited sensing by formulating a Bayesian prior…

Complicated first principles modelling and controller synthesis can be prohibitively slow and expensive for high-mix, low-volume products such as hydraulic excavators. Instead, in a data-driven approach, recorded trajectories from the real…

Language models often benefit from external knowledge beyond parametric knowledge. While this combination enhances performance, achieving reliable knowledge utilization remains challenging, as it requires assessing the state of each…