4 papers
Stability of Finite-Batch Particle Mean-Field Variational Inference Beyond Strong Convexity
Vinh Nguyen, Truong Vu
We study the implementable finite-batch particle algorithm for mean-field variational inference as a fully discrete stochastic approximation of the projected Wasserstein dynamics.…
Reduction of Velocity-Dependent Terms in Total Energy Shaping Approach
M. Reza J. Harandi, Mehrzad Namvar
Total energy shaping through interconnection and damping assignment passivity-based control (IDA-PBC) provides a powerful and systematic framework for stabilizing underactuated mec…
Robust Energy Shaping Control of an Underactuated Inverted Pendulum
M. Reza J. Harandi, Mehrzad Namvar
Although the stabilization of underactuated systems remains a challenging problem, the total energy shaping approach provides a general framework for addressing this objective. How…
Stabilization of a Quadrotor via Energy Shaping
M. Reza J. Harandi, Babak Salamat, Gerhard Elsbacher
Stabilization of a quadrotor without a controller based on cascade structure is a challenging problem. Besides, due to the dynamics and the number of underactuation, an energy shap…