相关论文: A Behavioral Input-Output Parametrization of Contr…

Bayesian optimization (BO) has demonstrated potential for optimizing control performance in data-limited settings, especially for systems with unknown dynamics or unmodeled performance objectives. The BO algorithm efficiently trades-off…

This paper investigates poisoning attacks against data-driven control methods. This work is motivated by recent trends showing that, in supervised learning, slightly modifying the data in a malicious manner can drastically deteriorate the…

This study presents the extension of the data-driven optimal prediction approach to the dynamical system with control. The optimal prediction is used to analyze dynamical systems in which the states consist of resolved and unresolved…

Infinite-time nonlinear optimal regulation control is widely utilized in aerospace engineering as a systematic method for synthesizing stable controllers. However, conventional methods often rely on linearization hypothesis, while recent…

We consider the problem of designing a state-feedback controller for a linear system, based only on noisy input-state data. We focus on input-state data corrupted by measurement errors, which, albeit less investigated, are as relevant as…

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…

Learning is a complex dynamical process shaped by a range of interconnected decisions. Careful design of hyperparameter schedules for artificial neural networks or efficient allocation of cognitive resources by biological learners can…

We consider the problem of sample-based feedback motion planning from measurements affected by systematic errors. Our previous work presented output feedback controllers that use measurements from landmarks in the environment to navigate…

We propose a general framework for studying optimal impulse control problem in the presence of uncertainty on the parameters. Given a prior on the distribution of the unknown parameters, we explain how it should evolve according to the…

Guided policy search algorithms have been proven to work with incredible accuracy for not only controlling a complicated dynamical system, but also learning optimal policies from various unseen instances. One assumes true nature of the…

Besides parametric uncertainties and disturbances, the unmodeled dynamics and time delay at the input are often present in practical systems, which cannot be ignored in some cases. This paper aims to solve output feedback tracking control…

Robust control of complex engineered and biological systems hinges on the integration of feedforward and feedback mechanisms. This is exemplified in neural motor control, where feedforward muscle co-contraction complements sensory-driven…

Safety control of dynamical systems using barrier functions relies on knowing the full state information. This paper introduces a novel approach for safety control in uncertain MIMO systems with partial state information. The proposed…

Data-enabled predictive control (DeePC) leverages system measurements in characterizing system dynamics for optimal control. The performance of DeePC relies on optimizing its hyperparameters, especially in noisy systems where the optimal…

Stochastic Optimal Control (SOC) typically considers noise only in the process model, i.e. unknown disturbances. However, in many robotic applications involving interaction with the environment, such as locomotion and manipulation,…

In this note we consider the problem of synthesizing optimal control policies for a system from noisy datasets. We present a novel algorithm that takes as input the available dataset and, based on these inputs, computes an optimal policy…

In recent years, real-world external controls have grown in popularity as a tool to empower randomized placebo-controlled trials, particularly in rare diseases or cases where balanced randomization is unethical or impractical. However, as…

This paper proposes a novel approach to addressing the output synchronization problem in unknown heterogeneous multi-agent systems (MASs) using noisy data. Unlike existing studies that focus on noiseless data, we introduce a distributed…

We present a novel approach to control design for nonlinear systems which leverages model-free policy optimization techniques to learn a linearizing controller for a physical plant with unknown dynamics. Feedback linearization is a…

Recently, various algorithms for data-driven simulation and control have been proposed based on the Willems' fundamental lemma. However, when collected data are noisy, these methods lead to ill-conditioned data-driven model structures. In…