相关论文: Motor State Prediction and Friction Compensation f…

We propose a Model-Based Reinforcement Learning (MBRL) algorithm named VF-MC-PILCO, specifically designed for application to mechanical systems where velocities cannot be directly measured. This circumstance, if not adequately considered,…

An approach for the identification of discontinuous and nonsmooth nonlinear forces, as those generated by frictional contacts, in mechanical systems that can be approximated by a single-degree-of-freedom model is presented. To handle the…

In this work, we show that a recently proposed method for experimental nonlinear modal analysis based on the extended periodic motion concept is well suited to extract modal properties for strongly nonlinear systems (i.e. in the presence of…

The dynamic mode decomposition (DMD) is a data-driven method used for identifying the dynamics of complex nonlinear systems. It extracts important characteristics of the underlying dynamics using measured time-domain data produced either by…

This study investigates the use of trajectory and dynamic state information for efficient data curation in autonomous driving machine learning tasks. We propose methods for clustering trajectory-states and sampling strategies in an active…

This paper tackles a friction compensation problem without using a friction model. The unique feature of the proposed friction observer is that the nominal motor-side signal is fed back into the controller instead of the measured signal. By…

In many specific scenarios, accurate and effective system identification is a commonly encountered challenge in the model predictive control (MPC) formulation. As a consequence, the overall system performance could be significantly weakened…

In many state-of-the-art control approaches for power systems with storage units, an explicit model of the storage dynamics is required. With growing numbers of storage units, identifying these dynamics can be cumbersome. This paper employs…

While data-driven model reduction techniques are well-established for linearizable mechanical systems, general approaches to reducing non-linearizable systems with multiple coexisting steady states have been unavailable. In this paper, we…

In this paper, we investigate a hybrid scheme that combines nonlinear model predictive control (MPC) and model-based reinforcement learning (RL) for navigation planning of an autonomous model car across offroad, unstructured terrains…

This paper proposes a new stochastic model of traffic dynamics in Lagrangian coordinates. The source of uncertainty is heterogeneity in driving behavior, captured using driver-specific speed-spacing relations, i.e., parametric uncertainty.…

Identifying the location of a disturbance and its magnitude is an important component for stable operation of power systems. We study the problem of localizing and estimating a disturbance in the interconnected power system. We take a…

Precise modeling soft robots remains a challenge due to their infinite-dimensional nature governed by partial differential equations. This paper introduces an innovative approach for modeling soft pneumatic actuators, employing a nonlinear…

The theory of covariance control and covariance steering (CS) deals with controlling the dispersion of trajectories of a dynamical system, under the implicit assumption that accurate prior knowledge of the system being controlled is…

We analyze the statistical performance of identification of stochastic dynamical systems with non-linear measurement sensors. This includes stochastic Wiener systems, with linear dynamics, process noise and measured by a non-linear sensor…

This paper presents an approach to trajectory-centric learning control based on contraction metrics and disturbance estimation for nonlinear systems subject to matched uncertainties. The approach uses deep neural networks to learn uncertain…

For the application of MPC design in on-line regulation or tracking control problems, several studies have attempted to develop an accurate model, and realize adequate uncertainty description of linear or non-linear plants of the processes.…

This paper presents a comprehensive approach to nonlinear dynamics identification for UAVs using a combination of data-driven techniques and theoretical modeling. Two key methodologies are explored: Proportional-Derivative (PD)…

Data-driven modeling is useful for reconstructing nonlinear dynamical systems when the underlying process is unknown or too expensive to compute. Having reliable uncertainty assessment of the forecast enables tools to be deployed to predict…

Vehicle platooning has been shown to be quite fruitful in the transportation industry to enhance fuel economy, road throughput, and driving comfort. Model Predictive Control (MPC) is widely used in literature for platoon control to achieve…