相关论文: Adaptive Actor-Critic Based Optimal Regulation for…

As learning-based robotic controllers are typically trained offline and deployed with fixed parameters, their ability to cope with unforeseen changes during operation is limited. Biologically inspired, this work presents a framework for…

This paper presents a data-driven method to find a closed-loop optimal controller, which minimizes a specified infinite-horizon cost function for systems with unknown dynamics. Suppose the closed-loop optimal controller can be parameterized…

In this work we address the problem of performing a repetitive task when we have uncertain observations and dynamics. We formulate this problem as an iterative infinite horizon optimal control problem with output feedback. Previously, this…

This study presents a benchmark for evaluating action-constrained reinforcement learning (RL) algorithms. In action-constrained RL, each action taken by the learning system must comply with certain constraints. These constraints are crucial…

While reinforcement learning (RL) has achieved great success in acquiring complex skills solely from environmental interactions, it assumes that resets to the initial state are readily available at the end of each episode. Such an…

This paper presents a learning-based control strategy for non-linear throttle valves with an asymmetric hysteresis, leading to a near-optimal controller without requiring any prior knowledge about the environment. We start with a carefully…

Reinforcement Learning (RL) is a method for learning decision-making tasks that could enable robots to learn and adapt to their situation on-line. For an RL algorithm to be practical for robotic control tasks, it must learn in very few…

Recently, there has been a surge in interest in safe and robust techniques within reinforcement learning (RL). Current notions of risk in RL fail to capture the potential for systemic failures such as abrupt stoppages from system failures…

A suboptimal active disturbance rejection controller (S-ADRC) is proposed for second-order systems with unknown time-varying nonlinear dynamics. The output-feedback controller guarantees a global convergence to the vicinity of an optimal…

We propose a learning-based robust predictive control algorithm that compensates for significant uncertainty in the dynamics for a class of discrete-time systems that are nominally linear with an additive nonlinear component. Such systems…

Reinforcement learning (RL) is a class of artificial intelligence algorithms being used to design adaptive optimal controllers through online learning. This paper presents a model-free, real-time, data-efficient Q-learning-based algorithm…

Reinforcement learning (RL) has attracted increasing interest for adaptive traffic signal control due to its model-free ability to learn control policies directly from interaction with the traffic environment. However, several challenges…

This work presents a new sufficient condition for synthesizing nonlinear controllers that yield bounded closed-loop tracking error transients despite the presence of unmatched uncertainties that are concurrently being learned online. The…

Effective traffic control is essential for mitigating congestion in transportation networks. Conventional traffic management strategies, including route guidance and ramp metering, often rely on state feedback controllers, which are used…

Dynamic Reinforcement Learning (Dynamic RL), proposed in this paper, directly controls system dynamics, instead of the actor (action-generating neural network) outputs at each moment, bringing about a major qualitative shift in…

Model-free reinforcement learning (RL) is inherently a reactive method, operating under the assumption that it starts with no prior knowledge of the system and entirely depends on trial-and-error for learning. This approach faces several…

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…

Optimal tracking of continuous time nonlinear systems has been extensively studied in literature. However, in several applications, absence of knowledge about system dynamics poses a severe challenge to solving the optimal tracking problem.…

Model-based control requires an accurate model of the system dynamics for precisely and safely controlling the robot in complex and dynamic environments. Moreover, in the presence of variations in the operating conditions, the model should…

Modern non-linear model-based controllers require an accurate physics model and model parameters to be able to control mobile robots at their limits. Also, due to surface slipping at high speeds, the friction parameters may continually…