相关论文: A modular framework for stabilizing deep reinforce…

This survey paper deals with the stabilization of nonlinear systems by analyzing the controlling method in terms of state feedback and output feedback. A brief overview of some literature on how the feedback controller of some dynamic…

Model-based reinforcement learning (RL) is considered to be a promising approach to reduce the sample complexity that hinders model-free RL. However, the theoretical understanding of such methods has been rather limited. This paper…

Traditional autonomous vehicle pipelines that follow a modular approach have been very successful in the past both in academia and industry, which has led to autonomy deployed on road. Though this approach provides ease of interpretation,…

Traditionally, reinforcement learning methods predict the next action based on the current state. However, in many situations, directly applying actions to control systems or robots is dangerous and may lead to unexpected behaviors because…

Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…

This paper investigates the vision-based autonomous driving with deep learning and reinforcement learning methods. Different from the end-to-end learning method, our method breaks the vision-based lateral control system down into a…

This paper deals with the problem of distributed control synthesis. We seek to find structured controllers that are stably realizable over the underlying network. We address the problem using an operator form of discrete-time linear…

Studies that broaden drone applications into complex tasks require a stable control framework. Recently, deep reinforcement learning (RL) algorithms have been exploited in many studies for robot control to accomplish complex tasks.…

We propose and demonstrate a nonlinear control method that can be applied to unknown, complex systems where the controller is based on a type of artificial neural network known as a reservoir computer. In contrast to many modern…

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…

Model-based Reinforcement Learning (MBRL) has shown many desirable properties for intelligent control tasks. However, satisfying safety and stability constraints during training and rollout remains an open question. We propose a new…

This paper proposes a new framework and several results to quantify the performance of data-driven state-feedback controllers for linear systems against targeted perturbations of the training data. We focus on the case where subsets of the…

Modern deep reinforcement learning (DRL) methods have made significant advances in handling continuous action spaces. However, real-world control systems, especially those requiring precise and reliable performance, often demand…

Robust data-driven controllers typically rely on datasets from previous experiments, which embed information on the variability of the system parameters across past operational conditions. Complementarily, data collected online can…

In the realm of supervised learning, Bayesian learning has shown robust predictive capabilities under input and parameter perturbations. Inspired by these findings, we demonstrate the robustness properties of Bayesian learning in the…

In this paper, we directly design a state feedback controller that stabilizes a class of uncertain nonlinear systems solely based on input-state data collected from a finite-length experiment. Necessary and sufficient conditions are derived…

A hierarchical 2DOF (2-degree-of-freedom) structure combining Youla-Kucera (YK) parameterization and model predictive control (MPC) is presented in this paper. The YK parameterization employs the coprime factorization of the nominal system…

Choosing an appropriate parameter set for the designed controller is critical for the final performance but usually requires a tedious and careful tuning process, which implies a strong need for automatic tuning methods. However, among…

This paper presents a robust control synthesis and analysis framework for nonlinear systems with uncertain initial conditions. First, a deep learning-based lifting approach is proposed to approximate nonlinear dynamical systems with linear…

In this paper, we present a state-feedback controller design method for bilinear systems. To this end, we write the bilinear system as a linear fractional representation by interpreting the state in the bilinearity as a structured…