94 citations · 391 across the 65 of their papers we have counts for
24 papers · 1 filter
How are policy gradient methods affected by the limits of control?
Ingvar Ziemann, Anastasios Tsiamis, Henrik Sandberg +1
We study stochastic policy gradient methods from the perspective of control-theoretic limitations. Our main result is that ill-conditioned linear systems in the sense of Doyle inev…
Distributed and Localized Model Predictive Control. Part I: Synthesis and Implementation
Carmen Amo Alonso, Jing Shuang Li, James Anderson +1
The increasing presence of large-scale distributed systems highlights the need for scalable control strategies where only local communication is required. Moreover, in safety-criti…
Robust Distributed and Localized Model Predictive Control
Carmen Amo Alonso, Jing Shuang Li, Nikolai Matni +1
We present a robust Distributed and Localized Model Predictive Control (rDLMPC) framework for large-scale structured linear systems. The proposed algorithm uses the System Level Sy…
Data-Driven System Level Synthesis
Anton Xue, Nikolai Matni
We establish data-driven versions of the System Level Synthesis (SLS) parameterization of achievable closed-loop system responses for a linear-time-invariant system over a finite-h…
Robust Closed-loop Model Predictive Control via System Level Synthesis
Shaoru Chen, Han Wang, Manfred Morari +2
In this paper, we consider the robust closed-loop model predictive control (MPC) of a linear time-variant (LTV) system with norm bounded disturbances and LTV model uncertainty, whe…
Efficient Learning of Distributed Linear-Quadratic Controllers
Salar Fattahi, Nikolai Matni, Somayeh Sojoudi
In this work, we propose a robust approach to design distributed controllers for unknown-but-sparse linear and time-invariant systems. By leveraging modern techniques in distribute…
Robust Performance Guarantees for System Level Synthesis
Nikolai Matni, Anish A. Sarma
We generalize the system level synthesis framework to systems defined by bounded causal linear operators, and use this parameterization to make connections between robust system le…
Distributed and Localized Model Predictive Control via System Level Synthesis
Carmen Amo Alonso, Nikolai Matni
We present the Distributed and Localized Model Predictive Control (DLMPC) algorithm for large-scale structured linear systems, wherein only local state and model information needs…
Robust Guarantees for Perception-Based Control
Sarah Dean, Nikolai Matni, Benjamin Recht +1
Motivated by vision-based control of autonomous vehicles, we consider the problem of controlling a known linear dynamical system for which partial state information, such as vehicl…
A Tutorial on Concentration Bounds for System Identification
Nikolai Matni, Stephen Tu
We provide a brief tutorial on the use of concentration inequalities as they apply to system identification of state-space parameters of linear time invariant systems, with a focus…
From self-tuning regulators to reinforcement learning and back again
Nikolai Matni, Alexandre Proutiere, Anders Rantzer +1
Machine and reinforcement learning (RL) are increasingly being applied to plan and control the behavior of autonomous systems interacting with the physical world. Examples include…
System Level Synthesis
James Anderson, John C. Doyle, Steven Low +1
This article surveys the System Level Synthesis framework, which presents a novel perspective on constrained robust and optimal controller synthesis for linear systems. We show how…
Sparsity Preserving Discretization With Error Bounds
James Anderson, Nikolai Matni, Yuxiao Chen
Typically when designing distributed controllers it is assumed that the state-space model of the plant consists of sparse matrices. However, in the discrete-time setting, if one be…
Passive-Aggressive Learning and Control
Dimitar Ho, Nikolai Matni, John C. Doyle
In this work, we investigate the problem of simultaneously learning and controlling a system subject to adversarial choices of disturbances and system parameters. We study the prob…
Safely Learning to Control the Constrained Linear Quadratic Regulator
Sarah Dean, Stephen Tu, Nikolai Matni +1
We study the constrained linear quadratic regulator with unknown dynamics, addressing the tension between safety and exploration in data-driven control techniques. We present a fra…
Finite-Data Performance Guarantees for the Output-Feedback Control of an Unknown System
Ross Boczar, Nikolai Matni, Benjamin Recht
As the systems we control become more complex, first-principle modeling becomes either impossible or intractable, motivating the use of machine learning techniques for the control…
On the Sample Complexity of the Linear Quadratic Regulator
Sarah Dean, Horia Mania, Nikolai Matni +2
This paper addresses the optimal control problem known as the Linear Quadratic Regulator in the case when the dynamics are unknown. We propose a multi-stage procedure, called Coars…
Separable and Localized System Level Synthesis for Large-Scale Systems
Yuh-Shyang Wang, Nikolai Matni, John C. Doyle
A major challenge faced in the design of large-scale cyber-physical systems, such as power systems, the Internet of Things or intelligent transportation systems, is that traditiona…
A Convex Approach to Consensus on SO(n)
Nikolai Matni, Matanya B. Horowitz
This paper introduces several new algorithms for consensus over the special orthogonal group. By relying on a convex relaxation of the space of rotation matrices, consensus over ro…
Communication Delay Co-Design in Distributed Control Using Atomic Norm Minimization
Nikolai Matni
When designing distributed controllers for large-scale systems, the actuation, sensing and communication architectures of the controller can no longer be taken as given. In particu…
Regularization for Design
Nikolai Matni, Venkat Chandrasekaran
When designing controllers for large-scale systems, the architectural aspects of the controller such as the placement of actuators, sensors, and the communication links between the…
Optimal Two Player LQR State Feedback With Varying Delay
Nikolai Matni, Andrew Lamperski, John C. Doyle
This paper presents an explicit solution to a two player distributed LQR problem in which communication between controllers occurs across a communication link with varying delay. W…
Low-Rank and Low-Order Decompositions for Local System Identification
Nikolai Matni, Anders Rantzer
As distributed systems increase in size, the need for scalable algorithms becomes more and more important. We argue that in the context of system identification, an essential build…
Distributed Control Subject to Delays Satisfying an Norm Bound
Nikolai Matni
This paper presents a characterization of distributed controllers subject to delay constraints induced by a strongly connected communication graph that achieve a prescribed closed…