相关论文: Data-driven optimal control under safety constrain…
In this paper, we investigate an optimal control problem with terminal stochastic linear complementarity constraints (SLCC), and its discrete approximation using the relaxation, the sample average approximation (SAA) and the implicit Euler…
We study sparse solutions of optimal control problems governed by PDEs with uncertain coefficients. We propose two formulations, one where the solution is a deterministic control optimizing the mean objective, and a formulation aiming at…
This report presents the results of a simulation study of the linear model and bilinear model approximations of the Koopman system model of the nonlinear utility functions in optimal control of a 3-robot system. In such a control problem,…
This paper considers estimation of sparse covariance matrices and establishes the optimal rate of convergence under a range of matrix operator norm and Bregman divergence losses. A major focus is on the derivation of a rate sharp minimax…
Given a state transition matrix (STM), we reinvestigate the problem of constructing the sparest input matrix with a fixed number of inputs to guarantee controllability. We give a new and simple graph theoretic characterization for the…
The Koopman operator framework can be used to identify a data-driven model of a nonlinear system. Unfortunately, when the data is corrupted by noise, the identified model can be biased. Additionally, depending on the choice of lifting…
In this paper, we propose an efficient data-driven predictive control approach for general nonlinear processes based on a reduced-order Koopman operator. A Kalman-based sparse identification of nonlinear dynamics method is employed to…
We present a new framework for optimal and feedback control of PDEs using Koopman operator-based reduced order models (K-ROMs). The Koopman operator is a linear but infinite-dimensional operator which describes the dynamics of observables.…
This thesis explores algorithmic applications and limitations of convex relaxation hierarchies for approximating some discrete and continuous optimization problems. - We show a dichotomy of approximability of constraint satisfaction…
Nonlinear optimal control is vital for numerous applications but remains challenging for unknown systems due to the difficulties in accurately modelling dynamics and handling computational demands, particularly in high-dimensional settings.…
Sparsity finds applications in areas as diverse as statistics, machine learning, and signal processing. Computations over sparse structures are less complex compared to their dense counterparts, and their storage consumes less space. This…
We address an optimal reachability problem for a planar manipulator in a constrained environment. After introducing the optmization problem in full generality, we practically embed the geometry of the workspace in the problem, by…
The Koopman operator provides a powerful framework for representing the dynamics of general nonlinear dynamical systems. Data-driven techniques to learn the Koopman operator typically assume that the chosen function space is closed under…
We study the behavior of Approximate Message-Passing, a solver for linear sparse estimation problems such as compressed sensing, when the i.i.d matrices -for which it has been specifically designed- are replaced by structured operators,…
This paper proposes a method to identify a Koopman model of a feedback-controlled system given a known controller. The Koopman operator allows a nonlinear system to be rewritten as an infinite-dimensional linear system by viewing it in…
In the development of model predictive controllers for PDE-constrained problems, the use of reduced order models is essential to enable real-time applicability. Besides local linearization approaches, Proper Orthogonal Decomposition (POD)…
A sparse linear programming (SLP) problem is a linear programming problem equipped with a sparsity (or cardinality) constraint, which is nonconvex and discontinuous theoretically and generally NP-hard computationally due to the…
This paper investigates a general class of problems in which a lower bounded smooth convex function incorporating $\ell_{0}$ and $\ell_{2,0}$ regularization is minimized over a box constraint. Although such problems arise frequently in…
In this paper, we propose a sparsity-promoting feedback control design for stochastic linear systems with multiplicative noise. The objective is to identify a sparse control architecture that optimizes the closed-loop performance while…
The paper focuses on the sparse approximation of signals using overcomplete representations, such that it preserves the (prior) structure of multi-dimensional signals. The underlying optimization problem is tackled using a multi-dimensional…