相关论文: Learning Robust Hybrid Control Barrier Functions f…

This paper proposes a novel robust reinforcement learning framework for discrete-time linear systems with model mismatch that may arise from the sim-to-real gap. A key strategy is to invoke advanced techniques from control theory. Using the…

Using control barrier functions (CBFs) as safety filters provides a computationally inexpensive yet effective method for constructing controllers in safety-critical applications. However, using CBFs requires the construction of a valid CBF,…

The ability to achieve precise and smooth trajectory tracking is crucial for ensuring the successful execution of various tasks involving robotic manipulators. State-of-the-art techniques require accurate mathematical models of the robot…

Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…

We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…

This paper addresses the problem of computing optimal impedance schedules for legged locomotion tasks involving complex contact interactions. We formulate the problem of impedance regulation as a trade-off between disturbance rejection and…

There have been attempts in reinforcement learning to exploit a priori knowledge about the structure of the system. This paper proposes a hybrid reinforcement learning controller which dynamically interpolates a model-based linear…

Constrained reinforcement learning is to maximize the expected reward subject to constraints on utilities/costs. However, the training environment may not be the same as the test one, due to, e.g., modeling error, adversarial attack,…

We consider the problem of designing controllers to guarantee safety in a class of nonlinear systems under uncertainties in the system dynamics and/or the environment. We define a class of uncertain control barrier functions (CBFs), and…

For a broad class of nonlinear systems, we formulate the problem of guaranteeing safety with optimality under constraints. Specifically, we define controlled safety for differential inclusions with constraints on the states and the inputs.…

In this paper, we solve the problem of finding a certified control policy that drives a robot from any given initial state and under any bounded disturbance to the desired reference trajectory, with guarantees on the convergence or bounds…

In the real-world, self-driving vehicles are required to achieve steering maneuvers in both uncontrolled and uncertain environments while maintaining high levels of safety and passengers' comfort. Ignoring these requirements would…

Reinforcement learning algorithms have shown great success in solving different problems ranging from playing video games to robotics. However, they struggle to solve delicate robotic problems, especially those involving contact…

Control barrier functions have been demonstrated to be a useful method of ensuring constraint satisfaction for a wide class of controllers, however existing results are mostly restricted to continuous time systems of relative degree one.…

This paper introduces a safety filter to ensure collision avoidance for multirotor aerial robots. The proposed formalism leverages a single Composite Control Barrier Function from all position constraints acting on a third-order nonlinear…

This paper is concerned with the robust tracking control of linear uncertain systems, whose unknown system parameters and disturbances are bounded within ellipsoidal sets. We propose an adaptive robust control that can actively learn the…

Many robotic path planning problems are continuous, stochastic, and high-dimensional. The ability of a mobile manipulator to coordinate its base and manipulator in order to control its whole-body online is particularly challenging when self…

This paper proposes a framework to design an event-triggered based robust control law for linear uncertain system. The robust control law is realized through both static and dynamic event-triggering approach to reduce the computation and…

Robustness of hybrid control systems to measurement noise, actuator disturbances, and more generally perturbations, is analyzed. The relationship between the robustness of a hybrid control system and of its implementations is emphasized.…

A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…