11 papers
Safe Learning Control with Optimality and Stability Guarantees
Xinyang Wang, Hongwei Zhang, Shimin Wang +2
Merely pursuing performance may adversely affect safety, while a conservative policy for safe exploration will degrade the performance. How to guarantee both safety and performance…
Asymptotic Boundedness of Distributed Set-Membership Filtering
Yudong Li, Yirui Cong, Shimin Wang +2
Asymptotic boundedness is a crucial property of Distributed Set-Membership Filtering (DSMFing) that prevents the unbounded growth of the set estimates caused by the wrapping effect…
Collision-Free Bearing-Driven Formation Tracking for Euler-Lagrange Systems
Haoshu Cheng, Martin Guay, Shimin Wang +1
In this paper, we investigate the problem of tracking formations driven by bearings for heterogeneous Euler-Lagrange systems with parametric uncertainty in the presence of multiple…
Reinforcement learning in pursuit-evasion differential game: safety, stability and robustness
Xinyang Wang, Hongwei Zhang, Jun Xu +2
Safety and stability are two critical concerns in pursuit-evasion (PE) problems in an obstacle-rich environment. Most existing works combine control barrier functions (CBFs) and re…
Nonparametric Steady-State Learning for Nonlinear Output Feedback Regulation
Shimin Wang, Martin Guay, Richard D. Braatz
This article addresses the nonparametric and robust output regulation problem of the general nonlinear output feedback system with error output. The global robust output regulation…
Extremum Seeking Nonlinear Regulator with Concurrent Uncertainties in Exosystems and Control Directions
Shimin Wang, Martin Guay, Denis Dochain
This paper proposes a non-adaptive control solution framework to the practical output regulation problem (PORP) for a class of nonlinear systems with uncertain parameters, unknown…