94 citations · 391 across the 65 of their papers we have counts for
9 papers · 2 filters
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…