232 citations · 1.5k across the 29 of their papers we have counts for
10 papers · 1 filter
Concurrent learning-based online approximate feedback-Nash equilibrium solution of N-player nonzero-sum differential games
Rushikesh Kamalapurkar, Justin Klotz, Warren E. Dixon
This paper presents a concurrent learning-based actor-critic-identifier architecture to obtain an approximate feedback-Nash equilibrium solution to an infinite horizon N-player non…
Decentralized formation control with connectivity maintenance and collision avoidance under limited and intermittent sensing
Teng-Hu Cheng, Zhen Kan, Joel A. Rosenfeld +1
A decentralized switched controller is developed for dynamic agents to perform global formation configuration convergence while maintaining network connectivity and avoiding collis…
Tracking Control for FES-Cycling based on Force Direction Efficiency with Antagonistic Bi-Articular Muscles
Hiroyuki Kawai, Matthew J. Bellman, Ryan J. Downey +1
A functional electrical stimulation (FES)-based tracking controller is developed to enable cycling based on a strategy to yield force direction efficiency by exploiting antagonisti…
Online Approximate Optimal Station Keeping of an Autonomous Underwater Vehicle
Patrick Walters, Warren E. Dixon
Online approximation of an optimal station keeping strategy for a fully actuated six degrees-of-freedom autonomous underwater vehicle is considered. The developed controller is an…
Online Approximate Optimal Path-Following for a Kinematic Unicycle
Patrick Walters, Rushikesh Kamalapurkar, Lindsey Andrews +1
Online approximation of an infinite horizon optimal path-following strategy for a kinematic unicycle is considered. The solution to the optimal control problem is approximated usin…
Stationary Cycling Induced by Switched Functional Electrical Stimulation Control
Matthew J. Bellman, Teng-Hu Cheng, Ryan J. Downey +1
Functional electrical stimulation (FES) is used to activate the dysfunctional lower limb muscles of individuals with neuromuscular disorders to produce cycling as a means of exerci…
Supporting Lemmas for RISE-based Control Methods
Rushikesh Kamalapurkar, Joel A. Rosenfeld, Justin Klotz +2
A class of continuous controllers termed Robust Integral of the Signum of the Error (RISE) have been published over the last decade as a means to yield asymptotic convergence of th…
Approximate optimal cooperative decentralized control for consensus in a topological network of agents with uncertain nonlinear dynamics
Rushikesh Kamalapurkar, Huyen Dinh, Patrick Walters +1
Efforts in this paper seek to combine graph theory with adaptive dynamic programming (ADP) as a reinforcement learning (RL) framework to determine forward-in-time, real-time, appro…
Concurrent learning-based approximate optimal regulation
Rushikesh Kamalapurkar, Patrick Walters, Warren Dixon
In deterministic systems, reinforcement learning-based online approximate optimal control methods typically require a restrictive persistence of excitation (PE) condition for conve…
Approximate Optimal Trajectory Tracking for Continuous Time Nonlinear Systems
Rushikesh Kamalapurkar, Huyen Dinh, Shubhendu Bhasin +1
Approximate dynamic programming has been investigated and used as a method to approximately solve optimal regulation problems. However, the extension of this technique to optimal t…