7 papers
Convergence and Robustness Bounds for Distributed Asynchronous Shortest-Path
Jared Miller, Mattia Bianchi, Florian Dörfler
This work analyzes convergence times and robustness bounds for asynchronous distributed shortest-path computation. We focus on the Adaptive Bellman--Ford algorithm, a self-stabiliz…
The Bias of Subspace-based Data-Driven Predictive Control
Keith Moffat, Florian Dörfler, Alessandro Chiuso
This paper quantifies and addresses the bias of subspace-based Data-Driven Predictive Control (DDPC) for linear, time-invariant (LTI) systems. The primary focus is the bias that ar…
Grid-Connected, Data-Driven Inverter Control, Theory to Hardware
Sebastian Graf, Keith Moffat, Anurag Mohapatra +2
Grid-connected inverter control is challenging to implement due to the difficulty of obtaining and maintaining an accurate grid model. Direct Data-Driven Predictive Control provide…
Recursive-ARX for Grid-Edge Fault Detection
Soufiane El Yaagoubi, Keith Moffat, Eduardo Prieto Araujo +1
Future electrical grids will require new ways to identify faults as inverters are not capable of supplying large fault currents to support existing fault detection methods and beca…
Policy Gradient Adaptive Control for the LQR: Indirect and Direct Approaches
Feiran Zhao, Alessandro Chiuso, Florian Dörfler
Motivated by recent advances of reinforcement learning and direct data-driven control, we propose policy gradient adaptive control (PGAC) for the linear quadratic regulator (LQR),…
An Adaptive Data-Enabled Policy Optimization Approach for Autonomous Bicycle Control
Niklas Persson, Feiran Zhao, Mojtaba Kaheni +2
This paper presents a unified control framework that integrates a Feedback Linearization (FL) controller in the inner loop with an adaptive Data-Enabled Policy Optimization (DeePO)…
Data-Driven Structured Robust Control of Linear Systems
Jared Miller, Jaap Eising, Florian Dörfler +1
Static structured control refers to the task of designing a state-feedback controller such that the control gain satisfies a subspace constraint. Structured control has application…