相关论文: Constraint-Aware Discrete-Time PID Gain Optimizati…
Our goal is to perform out-of-distribution (OOD) detection, i.e., to detect when a robot is operating in environments drawn from a different distribution than the ones used to train the robot. We leverage Probably Approximately Correct…
Recent years have seen a growing interest in understanding acceleration methods through the lens of ordinary differential equations (ODEs). Despite the theoretical advancements, translating the rapid convergence observed in continuous-time…
The End-of-Line (EoL) calibration of semi-active suspension systems for road vehicles is usually a critical and expensive task, needing a team of vehicle and control experts as well as many hours of professional driving. In this paper, we…
This article considers a discrete-time robust optimal control problem on matrix Lie groups. The underlying system is assumed to be perturbed by exogenous unmeasured bounded disturbances, and the control problem is posed as a min-max optimal…
In this paper we introduce adaptive time step control for simulation of evolution of ice sheets. The discretization error in the approximations is estimated using "Milne's device" by comparing the result from two different methods in a…
Motivation and gap: PID-family controllers remain a pragmatic choice for many robotic systems due to their simplicity and interpretability, but tuning stable, high-performing gains is time-consuming and typically non-transferable across…
Discrete-time stochastic systems are an essential modelling tool for many engineering systems. We consider stochastic control systems that are evolving over continuous spaces. For this class of models, methods for the formal verification…
Many state-of-the art robotic applications utilize series elastic actuators (SEAs) with closed-loop force control to achieve complex tasks such as walking, lifting, and manipulation. Model-free PID control methods are more prone to…
We propose and analyze a new dynamical system with a closed-loop control law in a Hilbert space $\mathcal{H}$, aiming to shed light on the acceleration phenomenon for \textit{monotone inclusion} problems, which unifies a broad class of…
The paper is devoted to the study of a new class of optimal control problems for nonsmooth dynamical systems governed by nonconvex discontinuous differential inclusions of the sweeping type with involving variable time into optimization. We…
This work focuses on numerical solutions of optimal control problems. A time discretization error representation is derived for the approximation of the associated value function. It concerns Symplectic Euler solutions of the Hamiltonian…
Classical PID control is widely applied in an engineering system, with parameter regulation relying on a method like Trial - Error Tuning or the Ziegler - Nichols rule, mainly for a Single - Input Single - Output (SISO) system. However, the…
Suboptimal methods in optimal control arise due to a limited computational budget, unknown system dynamics, or a short prediction window among other reasons. Although these methods are ubiquitous, their transient performance remains…
The proportional-integral-derivative (PID) controller and its variants are widely used in control engineering, but they often rely on linearization around equilibrium points and empirical parameter tuning, making them ineffective for…
Learning-based methods for dexterous manipulation have made notable progress in recent years. However, learned policies often still lack reliability and exhibit limited robustness to important factors of variation. One failure pattern that…
We present a Pontryagin maximum principle for discrete time optimal control problems with (a) pointwise constraints on the control actions and the states, (b) frequency constraints on the control and the state trajectories, and (c)…
Nonlinear underactuated systems such as two-wheeled inverted pendulums (TWIPs) exhibit a limited region of attraction (RoA), which defines the set of initial conditions from which the closed-loop system converges to the equilibrium. The RoA…
This paper addresses the quantitative verification of finite-time constrained occupation time for stochastic continuous-time systems governed by stochastic differential equations (SDEs). Unlike classical reachability analysis, which focuses…
In this paper, we investigate an optimal control problem with terminal stochastic linear complementarity constraints (SLCC), and its discrete approximation using the relaxation, the sample average approximation (SAA) and the implicit Euler…
Robust state estimation in coupled dynamical systems depends critically not only on sensor quality but on the structural alignment between observation channels and the system's intrinsic dynamics. This paper develops a rigorous framework…