相关论文: Arbitrarily Fast Multivariable Least-squares MRAC

This paper concerns the adaptive control problem for a class of nonlinear stochastic systems in which the state update is given by a nonlinear function of linear dynamics plus additive stochastic noise. Such systems arise in a wide range of…

Unlike fixed-gain robust control, which trades off performance with modeling uncertainty, direct adaptive control uses partial modeling information for online tuning. The present paper combines retrospective cost adaptive control (RCAC), a…

This article focuses on making discrete-time Adaptive Iterative Learning Control (ILC) more effective using multiple estimation models. Existing strategies use the tracking error to adjust the parametric estimates. Our strategy uses the…

We consider the task of designing sparse control laws for large-scale systems by directly minimizing an infinite horizon quadratic cost with an $\ell_1$ penalty on the feedback controller gains. Our focus is on an improved algorithm that…

We introduce a revised derivation of the bitwise Markov Chain Monte Carlo (MCMC) multiple-input multiple-output (MIMO) detector. The new approach resolves the previously reported high SNR stalling problem of MCMC without the need for…

Iterative learning control (ILC) is a powerful technique for high performance tracking in the presence of modeling errors for optimal control applications. There is extensive prior work showing its empirical effectiveness in applications…

The performance of model predictive controllers (MPC) strongly depends on the model quality. In the field of electric drive control, white-box (WB) modeling approaches derived from first-order physical principles are most common. This…

Sparse adaptive filtering has gained much attention due to its wide applicability in the field of signal processing. Among the main algorithm families, sparse norm constraint adaptive filters develop rapidly in recent years. However, when…

We consider adaptive control of the Linear Quadratic Regulator (LQR), where an unknown linear system is controlled subject to quadratic costs. Leveraging recent developments in the estimation of linear systems and in robust controller…

The purpose of this work is the design and analysis of a reliable and efficient a posteriori error estimator for the so-called pointwise tracking optimal control problem. This linear-quadratic optimal control problem entails the…

Data-driven model predictive control (MPC) has demonstrated significant potential for improving robot control performance in the presence of model uncertainties. However, existing approaches often require extensive offline data collection…

This paper presents a Nonlinear Model Predictive Control (NMPC) scheme targeted at motion planning for mechatronic motion systems, such as drones and mobile platforms. NMPC-based motion planning typically requires low computation times to…

In large-scale data processing scenarios, data often arrive in sequential streams generated by complex systems that exhibit drifting distributions and time-varying system parameters. This nonstationarity challenges theoretical analysis, as…

Well-designed current control is a key factor in ensuring the efficient and safe operation of modular multilevel converters (MMCs). Even though this control problem involves multiple control objectives, conventional current control schemes…

Given a set of response observations for a parametrized dynamical system, we seek a parametrized dynamical model that will yield uniformly small response error over a range of parameter values yet has low order. Frequently, access to…

Fine-tuning Multimodal Large Language Models (MLLMs) with parameter-efficient methods like Low-Rank Adaptation (LoRA) is crucial for task adaptation. However, imbalanced training dynamics across modalities often lead to suboptimal accuracy…

We consider the problem of reconstructing rank-one matrices from random linear measurements, a task that appears in a variety of problems in signal processing, statistics, and machine learning. In this paper, we focus on the Alternating…

This paper proposes a multiple-model adaptive control methodology, using set-valued observers (MMAC-SVO) for the identification subsystem, that is able to provide robust stability and performance guarantees for the closed-loop, when the…

Model Predictive Control (MPC) has established itself as the primary methodology for constrained control, enabling autonomy across diverse applications. While model fidelity is crucial in MPC, solving the corresponding optimization problem…

Conventional compressed sensing (CS) algorithms typically apply a uniform sampling rate to different image blocks. A more strategic approach could be to allocate the number of measurements adaptively, based on each image block's complexity.…