21 citations · 36 across the 9 of their papers we have counts for
9 papers
An Optimal Solution to Infinite Horizon Nonlinear Control Problems
Mohamed Naveed Gul Mohamed, Raman Goyal, Suman Chakravorty
In this paper, we consider the infinite horizon optimal control problem for nonlinear systems. Under the conditions of controllability of the linearized system around the origin, a…
An Information-State Based Approach to Linear Time Varying System Identification and Control
Mohamed Naveed Gul Mohamed, Raman Goyal, Suman Chakravorty +1
This paper considers the problem of system identification for linear time varying systems. We propose a new system realization approach that uses an "information-state" as the stat…
Co-Design of Watermarking and Robust Control for Security in Cyber-Physical Systems
Raman Goyal, Christoforos Somarakis, Erfaun Noorani +1
This work discusses a novel framework for simultaneous synthesis of optimal watermarking signal and robust controllers in cyber-physical systems to minimize the loss in performance…
An Information-state based Approach to the Optimal Output Feedback Control of Nonlinear Systems
Raman Goyal, Ran Wang, Mohamed Naveed Gul Mohamed +2
This paper develops a data-based approach to the closed-loop output feedback control of nonlinear dynamical systems with a partial nonlinear observation model. We propose an inform…
Integrating Structure, Information Architecture and Control Design: Application to Tensegrity Systems
Raman Goyal, Manoranjan Majji, Robert E. Skelton
A novel unified approach to jointly optimize structural design parameters, actuator and sensor precision and controller parameters is presented in this paper. The joint optimizatio…
Robust Shape Control of Gyroscopic Tensegrity Robotic Arm
Raman Goyal, Manoranjan Majji, Robert E. Skelton
This paper proposes a model-based approach to control the shape of a tensegrity system by driving its node position locations. The nonlinear dynamics of the tensegrity system is us…
Deployable Tensegrity Lunar Tower
Muhao Chen, Raman Goyal, Manoranjan Majji +1
A tensegrity tower design to support a given payload for the moon mining operation is proposed in this paper. A non-linear optimization problem for the minimal-mass structure desig…
On the Feedback Law in Stochastic Optimal Nonlinear Control
Mohamed Naveed Gul Mohamed, Suman Chakravorty, Raman Goyal +1
We consider the problem of nonlinear stochastic optimal control. This problem is thought to be fundamentally intractable owing to Bellman's "curse of dimensionality". We present a…
On the Search for Feedback in Reinforcement Learning
Ran Wang, Karthikeya S. Parunandi, Aayushman Sharma +2
The problem of Reinforcement Learning (RL) in an unknown nonlinear dynamical system is equivalent to the search for an optimal feedback law utilizing the simulations/ rollouts of t…