相关论文: SE(3) Linear Parameter Varying Dynamical Systems f…

By means of the linear parameter-varying (LPV) Fundamental Lemma, we derive novel data-driven predictive control (DPC) methods for LPV systems. In particular, we present output-feedback and state-feedback-based LPV-DPC methods with terminal…

Many robot manipulation tasks can be framed as geometric reasoning tasks, where an agent must be able to precisely manipulate an object into a position that satisfies the task from a set of initial conditions. Often, task success is defined…

Quadrotor stability under complex dynamic disturbances and model uncertainties poses significant challenges. One of them remains the underfitting problem in high-dimensional features, which limits the identification capability of current…

Dynamical systems (DS) methods for Learning-from-Demonstration (LfD) provide stable, continuous policies from few demonstrations. First-order dynamical systems (DS) are effective for many point-to-point and periodic tasks, as long as a…

Recent advances in the theory of Neural Operators (NOs) have enabled fast and accurate computation of the solutions to complex systems described by partial differential equations (PDEs). Despite their great success, current NO-based…

We demonstrate that direct data-driven control of nonlinear systems can be successfully accomplished via a behavioral approach that builds on a Linear Parameter-Varying (LPV) system concept. An LPV data-driven representation is used as a…

In this paper, we propose fixed-order set-valued (in the form of l2-norm hyperballs) observers for some classes of nonlinear bounded-error dynamical systems with unknown input signals that simultaneously find bounded hyperballs of states…

We develop data-driven methods incorporating geometric and topological information to learn parsimonious representations of nonlinear dynamics from observations. The approaches learn nonlinear state-space models of the dynamics for general…

Many day-to-day activities require the dexterous manipulation of a redundant humanoid arm in complex 3D environments. However, position regulation of such robot arm systems becomes very difficult in presence of non-linear uncertainties in…

The proposed control method uses an adaptive feedforward-based controller to establish a passive input-output mapping for the CDPR that is used alongside a linear time-invariant strictly positive real feedback controller to guarantee robust…

This work presents a finite-time stable pose estimator (FTS-PE) for rigid bodies undergoing rotational and translational motion in three dimensions, using measurements from onboard sensors that provide position vectors to inertially-fixed…

Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…

The control of free-floating robots requires dealing with several challenges. The motion of such robots evolves on a continuous manifold described by the Special Euclidean Group of dimension 3, known as SE(3). Methods from finite horizon…

Linear Dynamical System (LDS) is an elegant mathematical framework for modeling and learning multivariate time series. However, in general, it is difficult to set the dimension of its hidden state space. A small number of hidden states may…

In this paper, we propose a mass conservative semi-Lagrangian finite difference scheme for multi-dimensional problems without dimensional splitting. The semi-Lagrangian scheme, based on tracing characteristics backward in time from grid…

This paper introduces a Transformer-Enhanced Physics-Informed Neural Network (TE-PINN) designed for accurate quaternion-based orientation estimation in high-dynamic environments, particularly within the field of robotics. By integrating…

Lagrangian Neural Networks (LNNs) present a principled and interpretable framework for learning the system dynamics by utilizing inductive biases. While traditional dynamics models struggle with compounding errors over long horizons, LNNs…

Determining the 3D orientations of an object in an image, known as single-image pose estimation, is a crucial task in 3D vision applications. Existing methods typically learn 3D rotations parametrized in the spatial domain using Euler…

Based on the extension of the behavioral theory and the Fundamental Lemma for Linear Parameter-Varying (LPV) systems, this paper introduces a Data-driven Predictive Control (DPC) scheme capable to ensure reference tracking and satisfaction…

We propose the multistep port-Hamiltonian Gaussian process (MS-PHS GP) to learn physically consistent continuous-time dynamics and a posterior over the Hamiltonian from noisy, irregularly-sampled trajectories. By placing a GP prior on the…