相关论文: End-to-End ILC for Repetitive Untrackable Tasks: A…

This work investigates robust monotonic convergent iterative learning control (ILC) for uncertain linear systems in both time and frequency domains, and the ILC algorithm optimizing the convergence speed in terms of $l_{2}$ norm of error…

In this paper, we present an iterative Model Predictive Control (MPC) design for piecewise nonlinear systems. We consider finite time control tasks where the goal of the controller is to steer the system from a starting configuration to a…

Inverse reinforcement learning (IRL) aims to learn a reward function and a corresponding policy that best fit the demonstrated trajectories of an expert. However, current IRL works cannot learn incrementally from an ongoing trajectory…

In this paper we investigate the Follow the Regularized Leader dynamics in sequential imperfect information games (IIG). We generalize existing results of Poincar\'e recurrence from normal-form games to zero-sum two-player imperfect…

This paper presents an iterative learning control (ILC) scheme for continuously operated repetitive systems for which no initial condition reset exists. To accomplish this, we develop a lifted system representation that accounts for the…

This work evaluates and analyzes the combination of imitation learning (IL) and differentiable model predictive control (MPC) for the application of human-like autonomous driving. We combine MPC with a hierarchical learning-based policy,…

This paper considers the leader-follower tracking control problem for linear interconnected systems with undirected topology and linear dynamic coupling. Interactions between the systems are treated as linear dynamic uncertainty and are…

This paper investigates the application of game-theoretic principles combined with advanced Kalman filtering techniques to enhance maritime target tracking systems. Specifically, the paper presents a two-player, imperfect information,…

Closed-loop positivity of feedback interconnections of positive monotone nonlinear systems is investigated. It is shown that an instantaneous gain condition on the open-loop systems which implies feedback well-posedness also guarantees…

A Learning Model Predictive Controller (LMPC) for linear system in presented. The proposed controller is an extension of the LMPC [1] and it aims to decrease the computational burden. The control scheme is reference-free and is able to…

This paper studies a system security problem in the context of observability based on a two-person noncooperative infinitely repeated game. Both the attacker and the defender have means to modify the dimension of the unobservable subspace,…

Iterative Learning Control (ILC) is a technique for adaptive feed-forward control of electro-mechanical plant that either performs programmed periodic behavior or rejects quasi-periodic disturbances. For example, ILC can suppress…

Guaranteeing constraint satisfaction is challenging in imitation learning (IL), particularly in tasks that require operating near a system's handling limits. Traditional IL methods, such as Behavior Cloning (BC), often struggle to enforce…

In this note, we consider repeated play of a finite game using learning rules whose period-by-period behavior probabilities or empirical distributions converge to some notion of equilibria of the stage game. Our primary focus is on…

This paper investigates repeated win-lose coordination games (WLC-games). We analyse which protocols are optimal for these games, covering both the worst case and average case scenarios, i,e., optimizing the guaranteed and expected…

We propose a new framework for imitation learning -- treating imitation as a two-player ranking-based game between a policy and a reward. In this game, the reward agent learns to satisfy pairwise performance rankings between behaviors,…

In this paper, we formulate inverse reinforcement learning (IRL) as an expert-learner interaction whereby the optimal performance intent of an expert or target agent is unknown to a learner agent. The learner observes the states and…

This paper develops a Closed-Loop Error Learning Control (CLELC) algorithm for feedback linearizable systems with experimental validation on a mobile robot. Traditional feedback and feedforward controllers are designed based on the nominal…

The design of the performance index, also referred to as cost or reward shaping, is central to both optimal control and reinforcement learning, as it directly determines the behaviors, trade-offs, and objectives that the resulting control…

This paper proposes a robust control strategy that integrates Iterative Learning Control (ILC) with a simple lateral neural network to enhance the trajectory tracking performance of a linear Lorentz force actuator under friction and model…