相关论文: Lyapunov Neural ODE State-Feedback Control Policie…

Many mainstream robust control/estimation algorithms for power networks are designed using the Lyapunov theory as it provides performance guarantees for linear/nonlinear models of uncertain power networks but comes at the expense of…

We consider an abstract framework for the numerical solution of optimal control problems (OCPs) subject to partial differential equations (PDEs). Examples include not only the distributed control of elliptic PDEs such as the Poisson…

Despite impressive results, reinforcement learning (RL) suffers from slow convergence and requires a large variety of tuning strategies. In this paper, we investigate the ability of RL algorithms on simple continuous control tasks. We show…

We consider an interlinked production model consisting of conservation laws (PDE) coupled to ordinary differential equations (ODE). Our focus is the analysis of control laws for the coupled system and corresponding stabilization questions…

As more inverter-connected renewable resources are integrated into the grid, frequency stability may degrade because of the reduction in mechanical inertia and damping. A common approach to mitigate this degradation in performance is to use…

We propose a method for data-driven practical stabilization of nonlinear systems with provable guarantees, based on the concept of Nonparametric Chain Policies (NCPs). The approach employs a normalized nearest-neighbor rule to assign, at…

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…

The introduction of unexpected system disturbances and new system dynamics does not allow guaranteed continuous system stability. In this research we present a novel approach for detecting early failure indicators of non-linear highly…

In this paper, we propose an online learning-based predictive control (LPC) approach designed for nonlinear systems that lack explicit system dynamics. Unlike traditional model predictive control (MPC) algorithms that rely on known system…

Solving partially observable Markov decision processes (POMDPs) requires computing policies under imperfect state information. Despite recent advances, the scalability of existing POMDP solvers remains limited. Moreover, many settings…

Learning for control of dynamical systems with formal guarantees remains a challenging task. This paper proposes a learning framework to simultaneously stabilize an unknown nonlinear system with a neural controller and learn a neural…

In this paper, we propose a Lyapunov-based reinforcement learning method for distributed control of nonlinear systems comprising interacting subsystems with guaranteed closed-loop stability. Specifically, we conduct a detailed stability…

We consider numerical approaches for deterministic, finite-dimensional optimal control problems whose dynamics depend on unknown or uncertain parameters. We seek to amortize the solution over a set of relevant parameters in an offline stage…

We consider a nonlinear discrete stochastic control system, and our goal is to design a feedback control policy in order to lead the system to a prespecified state. We adopt a stochastic approximation viewpoint of this problem. It is known…

In this paper, we consider delay minimization for interference networks with renewable energy source, where the transmission power of a node comes from both the conventional utility power (AC power) and the renewable energy source. We…

Time delays are ubiquitous in industry, and they must be accounted for when designing control strategies. However, numerical optimal control (NOC) of delay differential equations (DDEs) is challenging because it requires specialized…

Thermodynamic principles can be employed to design parameter update laws that address challenges such as the exploration vs. exploitation dilemma. In this paper, inspired by the Langevin equation, an update law is developed for a…

Adaptive control is subject to stability and performance issues when a learned model is used to enhance its performance. This paper thus presents a deep learning-based adaptive control framework for nonlinear systems with…

Deep learning has had a far reaching impact in robotics. Specifically, deep reinforcement learning algorithms have been highly effective in synthesizing neural-network controllers for a wide range of tasks. However, despite this empirical…

Neural ordinary differential equations (NODE) have been proposed as a continuous depth generalization to popular deep learning models such as Residual networks (ResNets). They provide parameter efficiency and automate the model selection…