相关论文: Robust Agility via Learned Zero Dynamics Policies

Classical adaptive control proves total-system stability for control of linear plants, but only for plants meeting very restrictive assumptions. Approximate Dynamic Programming (ADP) has the potential, in principle, to ensure stability…

The stability analysis of model predictive control schemes without terminal constraints and/or costs has attracted considerable attention during the last years. We pursue a recently proposed approach which can be used to determine a…

Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robots. While most existing methods focus on quasi-static…

Optimal behaviours of a system to perform a specific task can be achieved by leveraging the coupling between trajectory optimization, stabilization, and design optimization. This approach is particularly advantageous for underactuated…

Stabilizing an unknown control system is one of the most fundamental problems in control systems engineering. In this paper, we provide a simple, model-free algorithm for stabilizing fully observed dynamical systems. While model-free…

This paper presents a novel robust trajectory optimization method for constrained nonlinear dynamical systems subject to unknown bounded disturbances. In particular, we seek optimal control policies that remain robustly feasible with…

Deep reinforcement learning approaches are becoming appealing for the design of nonlinear controllers for voltage control problems, but the lack of stability guarantees hinders their deployment in real-world scenarios. This paper constructs…

In this paper, we explore the conditions for asymptotic stability of the hybrid closed-loop system resulting from the interconnection of a nonlinear plant, an intelligent sensor that generates finite-time convergent estimates of the plant…

Safety is a primary concern when applying reinforcement learning to real-world control tasks, especially in the presence of external disturbances. However, existing safe reinforcement learning algorithms rarely account for external…

We present a trajectory planning and control architecture for bipedal locomotion at a variety of speeds on a highly underactuated and compliant bipedal robot. A library of compliant walking trajectories are planned offline, and stored as…

We develop a hybrid control approach for robot learning based on combining learned predictive models with experience-based state-action policy mappings to improve the learning capabilities of robotic systems. Predictive models provide an…

Humanoid robots are envisioned to perform a wide range of tasks in human-centered environments, requiring controllers that combine agility with robust balance. Recent advances in locomotion and whole-body tracking have enabled impressive…

Semi-active suspensions have drawn particular attention due to their superior performance over the other types of suspensions. One of their advantages is that their damping coefficient can be controlled without the need for any external…

Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the…

Learned optimizers are a crucial component of meta-learning. Recent advancements in scalable learned optimizers have demonstrated their superior performance over hand-designed optimizers in various tasks. However, certain characteristics of…

This paper introduces a novel solution to the manual control challenge for indoor blimps. The problem's complexity arises from the conflicting demands of executing human commands while maintaining stability through automatic control for…

This paper considers the optimal control for hybrid systems whose trajectories transition between distinct subsystems when state-dependent constraints are satisfied. Though this class of systems is useful while modeling a variety of…

Achieving both optimality and safety under unknown system dynamics is a central challenge in real-world deployment of agents. To address this, we introduce a notion of maximum safe dynamics learning, where sufficient exploration is…

This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a…

We study novel robust zero-order algorithms with acceleration for the solution of real-time optimization problems. In particular, we propose a family of extremum seeking dynamics that can be universally modeled as singularly perturbed…