相关论文: Linear quadratic regulation control for falling li…

Given a nonstationary trajectory of the Navier-Stokes system, a finite-dimensional feedback boundary controller stabilizing locally the system to the given trajectory is derived. Moreover the controller is supported in a given open subset…

This paper presents a pioneering approach to solving the linear quadratic regulation (LQR) and linear quadratic tracking (LQT) problems with constrained inputs using a novel off-policy continuous-time Q-learning framework. The proposed…

This work focuses on steady and unsteady Navier-Stokes equations in a reduced order modeling framework. The methodology proposed is based on a Proper Orthogonal Decomposition within a levelset geometry description and the problems of…

We propose a Bayesian framework for feedback boundary control for hyperbolic balance laws. The method propagates a probability distribution over feedback parameters by using Lyapunov decay estimates as a likelihood. In the linear setting,…

This paper introduces and analyzes an improved Q-learning algorithm for discrete-time linear time-invariant systems. The proposed method does not require any knowledge of the system dynamics, and it enjoys significant efficiency advantages…

The linear quadratic regulator (LQR) problem has reemerged as an important theoretical benchmark for reinforcement learning-based control of complex dynamical systems with continuous state and action spaces. In contrast with nearly all…

We present LQR-CBF-RRT*, an incremental sampling-based algorithm for offline motion planning. Our framework leverages the strength of Control Barrier Functions (CBFs) and Linear Quadratic Regulators (LQR) to generate safety-critical and…

Linear projection schemes like Proper Orthogonal Decomposition can efficiently reduce the dimensions of dynamical systems but are naturally limited, e.g., for convection-dominated problems. Nonlinear approaches have shown to outperform…

Designing planners and controllers for contact-rich manipulation is extremely challenging as contact violates the smoothness conditions that many gradient-based controller synthesis tools assume. Contact smoothing approximates a non-smooth…

We extend to multi-dimensions the work of [1], where new fully explicit kinetic methods were built for the approximation of linear and non-linear convection-diffusion problems. The fundamental principles from the earlier work are retained:…

In this paper, a polynomial chaos based framework for designing controllers for discrete time linear systems with probabilistic parameters is presented. Conditions for exponential-mean-square stability for such systems are derived and…

We consider the gravity-driven flow of a perfect dielectric, viscous, thin liquid film, wetting a flat substrate inclined at a non-zero angle to the horizontal. The dynamics of the thin film is influenced by an electric field which is set…

A linear non-modal mechanism for transient amplification of perturbation energy is known to trigger sub-critical transition to turbulence in many shear flows. Feedback control strategies for minimizing this transient energy growth can be…

Inspired by REINFORCE, we introduce a novel receding-horizon algorithm for the Linear Quadratic Regulator (LQR) problem with unknown dynamics. Unlike prior methods, our algorithm avoids reliance on two-point gradient estimates while…

Control of linear dynamics with multiplicative noise naturally introduces robustness against dynamical uncertainty. Moreover, many physical systems are subject to multiplicative disturbances. In this work we show how these dynamics can be…

Reduced-order models were derived for plane Couette flow using Galerkin projection, with orthonormal basis functions taken as the leading controllability modes of the linearised Navier-Stokes system for a few low wavenumbers. Resulting…

This paper presents a novel modeling approach for unsteady aircraft airflow, leveraging the Lorenz attractor framework. The proposed model is based on the force distribution exerted by a lift-generating wing on the surrounding fluid. It…

We consider a two-dimensional motion of a thin film flowing down an inclined plane under the influence of the gravity and the surface tension. In order to investigate the stability of such flow, it is hard to treat the Navier--Stokes…

Unsteady aerodynamic models are necessary to accurately simulate forces and develop feedback controllers for wings in agile motion; however, these models are often high dimensional or incompatible with modern control techniques. Recently,…

End-to-end engineering design pipelines, in which designs are evaluated using concurrently defined optimal controllers, are becoming increasingly common in practice. To discover designs that perform well even under the misspecification of…