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eess.SY2026
Stability of Control Lyapunov Function Guided Reinforcement Learning
Zachary Olkin, William D. Compton, Aaron D. Ames
Reinforcement learning (RL) has become the de facto method for achieving locomotion on humanoid robots in practice, yet stability analysis of the corresponding control policies is…
eess.SY2025
Layered Nonlinear Model Predictive Control for Robust Stabilization of Hybrid Systems
Zachary Olkin, Aaron D. Ames
Computing the receding horizon optimal control of nonlinear hybrid systems is typically prohibitively slow, limiting real-time implementation. To address this challenge, we propose…
eess.SY2024
Bilevel Optimization for Real-Time Control with Application to Locomotion Gait Generation
Zachary Olkin, Aaron D. Ames
Model Predictive Control (MPC) is a common tool for the control of nonlinear, real-world systems, such as legged robots. However, solving MPC quickly enough to enable its use in re…