相关论文: $\mathcal{L}_1$ Adaptive Control with Switched Ref…

Reinforcement learning (RL) algorithms have been successfully used to develop control policies for dynamical systems. For many such systems, these policies are trained in a simulated environment. Due to discrepancies between the simulated…

In order to increase the number of situations in which an intelligent vehicle can operate without human intervention, lateral control is required to accurately guide it in a reference trajectory regardless of the shape of the road or the…

Learning-based adaptive control methods hold the premise of enabling autonomous agents to reduce the effect of process variations with minimal human intervention. However, its application to autonomous underwater vehicles (AUVs) has so far…

This paper addresses efficient feasibility evaluation of possible emergency landing sites, online navigation, and path following for automatic landing under engine-out failure subject to turbulent weather. The proposed Multi-level Adaptive…

Flight trajectory data plays a vital role in the traffic management community, especially for downstream tasks such as trajectory prediction, flight recognition, and anomaly detection. Existing works often utilize handcrafted features and…

Aerial robots can enhance their safe and agile navigation in complex and cluttered environments by efficiently exploiting the information collected during a given task. In this paper, we address the learning model predictive control problem…

A desirable property in fault-tolerant controllers is adaptability to system changes as they evolve during systems operations. An adaptive controller does not require optimal control policies to be enumerated for possible faults. Instead it…

Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…

Autonomous tracking of flying aerial objects has important civilian and defense applications, ranging from search and rescue to counter-unmanned aerial systems (counter-UAS). Ground based tracking requires setting up infrastructure, could…

Real-world robots must operate under evolving dynamics caused by changing operating conditions, external disturbances, and unmodeled effects. These may appear as gradual drifts, transient fluctuations, or abrupt shifts, demanding real-time…

This article proposes a Model Reference Adaptive Control (MRAC) strategy to achieve fixed-time convergence of parameter estimation and tracking errors for unknown linear time-invariant systems, without relying on the persistence of…

This paper presents a novel approach to Autonomous Vehicle (AV) control through the application of active inference, a theory derived from neuroscience that conceptualizes the brain as a predictive machine. Traditional autonomous driving…

We propose a computationally efficient Learning Model Predictive Control (LMPC) scheme for constrained optimal control of a class of nonlinear systems where the state and input can be reconstructed using lifted outputs. For the considered…

Integrated sensing and communication (ISAC) has emerged as a pivotal technology for advancing low-altitude wireless networks (LAWNs), serving as a critical enabler for next-generation communication systems. This paper investigates the…

Iterative learning control (ILC) is a method for reducing system tracking or estimation errors over multiple iterations by using information from past iterations. The disturbance observer (DOB) is used to estimate and mitigate disturbances…

We systematically investigated a reinforcement learning (RL)-based closed-loop active flow control strategy to enhance the lift-to-drag ratio of a wing section with an NLF(1)-0115 airfoil at an angle of attack 5 degree. The effects of key…

This paper proposes a robust control strategy that integrates Iterative Learning Control (ILC) with a simple lateral neural network to enhance the trajectory tracking performance of a linear Lorentz force actuator under friction and model…

We present the design of a safe Adaptive Cruise Control (ACC) which uses road grade and lead vehicle motion preview. The ACC controller is designed by using a Model Predictive Control (MPC) framework to optimize comfort, safety,…

This paper considers the problem of real-time control and learning in dynamic systems subjected to parametric uncertainties. We propose a combination of a Reinforcement Learning (RL) based policy in the outer loop suitably chosen to ensure…

This paper presented a deep reinforcement learning method named Double Deep Q-networks to design an end-to-end vision-based adaptive cruise control (ACC) system. A simulation environment of a highway scene was set up in Unity, which is a…