相关论文: On the Generalization of Data-Assisted Control in …
In this paper we extend the previously introduced class of boundary port-Hamiltonian systems to boundary control systems where the variational derivative of the Hamiltonian functional is replaced by a pair of reciprocal differential…
This paper proposes a data-driven motion-planning framework for nonlinear systems that constructs a sequence of overlapping invariant polytopes. Around each randomly sampled waypoint, the algorithm identifies a convex admissible region and…
This paper considers optimal control of dynamical systems which are represented by nonlinear stochastic differential equations. It is well-known that the optimal control policy for this problem can be obtained as a function of a value…
Reconstructing the KAM dynamics diagram of Hamiltonian system from the time series of a limited number of parameters is an outstanding question in nonlinear science, especially when the Hamiltonian governing the system dynamics are unknown.…
We examine the problem of two-point boundary optimal control of nonlinear systems over finite-horizon time periods with unknown model dynamics by employing reinforcement learning. We use techniques from singular perturbation theory to…
Robust header compression (ROHC), critically positioned between the network and the MAC layers, plays an important role in modern wireless communication systems for improving data efficiency. This work investigates bi-directional ROHC…
In this study, a heuristic dynamic programming controller is proposed to control a boost converter. Conventional controllers such as proportional integral-derivative (PID) or proportional integral (PI) are designed based on the linearized…
This paper focuses on a key challenge in hybrid data-driven predictive control: the effect of measurement noise on Hankel matrices. While noise is handled in direct and indirect methods, hybrid approaches often overlook its impact during…
Reinforcement learning (RL), known for its self-evolution capability, offers a promising approach to training high-level autonomous driving systems. However, handling constraints remains a significant challenge for existing RL algorithms,…
The design of an automated vehicle controller can be generally formulated into an optimal control problem. This paper proposes a continuous-time finite-horizon approximate dynamicprogramming (ADP) method, which can synthesis off-line…
Different representations of dissipative Hamiltonian and port-Hamiltonian differential-algebraic equations (DAE) systems are presented and compared. Using global geometric and algebraic points of view, translations between the different…
This paper presents a {\delta}-PI algorithm which is based on damped Newton method for the H{\infty} tracking control problem of unknown continuous-time nonlinear system. A discounted performance function and an augmented system are used to…
In this paper, we consider infinite-dimensional port-Hamiltonian systems with in-domain actuation by means of an approach based on Stokes-Dirac structures as well as in a framework that exploits an underlying jet-bundle structure. In both…
Hybrid dynamical systems, which include continuous flow and discrete mode switching, can model robotics tasks like legged robot locomotion. Model-based methods usually depend on predefined gaits, while model-free approaches lack explicit…
In this contribution we present an intrinsic description of time-variant Port Hamiltonian systems as they appear in modeling and control theory. This formulation is based on the splitting of the state bundle and the use of appropriate…
One of the major challenges of voltage stabilization in converter-based DC microgrids are the multiple interacting units displaying intermittent supply behavior. In this paper, we address this by a decentralized scalable, plug-and-play…
In this paper, we present an hp-adaptive hybrid Discontinuous Galerkin/Finite Volume method for simulating compressible, turbulent multi-component flows. Building on a previously established hp-adaptive strategy for hyperbolic gas- and…
We consider piecewise-deterministic optimal control problems in which the environment randomly switches among several deterministic modes, and the goal is to optimize the expected cost up to the termination while taking the likelihood of…
To avoid ineffective collisions between the equilibrium states, the hybrid method with deviational particles (HDP) has been proposed to integrate the Vlasov-Poisson-Landau system, while leaving a new issue in sampling deviational particles…
Boundary controlled irreversible port-Hamiltonian systems (BC-IPHS) on 1-dimensional spatial domains are defined by extending the formulation of reversible BC-PHS to irreversible thermodynamic systems controlled at the boundaries of their…