11 papers
On the Effect of Quadratic Regularization in Direct Data-Driven LQR
Manuel Klädtke, Feiran Zhao, Florian Dörfler +1
This paper proposes an explainability concept for direct data-driven linear quadratic regulation (LQR) with quadratic regularization. Our perspective follows the parametric effect…
A Bayesian Perspective on the Data-Driven LQR
Thierry Schwaller, Feiran Zhao, Florian Dörfler
The data-driven linear quadratic regulator (ddLQR) is a widely studied control method for unknown dynamical systems with disturbance. Existing approaches, both indirect, i.e., thos…
Scaled Graph Containment for Feedback Stability: Soft-Hard Equivalence and Conic Regions
Eder Baron-Prada, Julius P. J. Krebbekx, Adolfo Anta +1
Scaled graphs (SGs) offer a geometric framework for feedback stability analysis. This paper develops containment conditions for SGs within multiplier-defined regions, addressing bo…
Soft projections for robust data-driven control
András Sasfi, Jaap Eising, Florian Dörfler
We consider data-based predictive control based on behavioral systems theory. In the linear setting this means that a system is described as a subspace of trajectories, and predict…
On the Impact of Operating Points on Small-Signal Stability: Decentralized Stability Sets via Scaled Relative Graphs
Eder Baron-Prada, Adolfo Anta, Florian Dörfler
This paper presents a decentralized frequency-domain framework to characterize the influence of the operating point on the small-signal stability of converter-dominated power syste…
Scalable Nonlinear DeePC: Bridging Direct and Indirect Methods and Basis Reduction
Thomas O. de Jong, Mircea Lazar, Siep Weiland +1
This paper studies regularized data-enabled predictive control (DeePC) within a nonlinear framework and its relationship to subspace predictive control (SPC). The -regularizatio…
MPC for momentum counter-balanced and zero-impulse contact with a free-spinning satellite
Theofania Karampela, Rishie Seshadri, Florian Dörfler +1
In on-orbit robotics, a servicer satellite's ability to make contact with a free-spinning target satellite is essential to completing most on-orbit servicing (OOS) tasks. This manu…
Ensuring Stability of Non-Minimal Modes in Input-Output Data-Driven Representation
Joowon Lee, Nam Hoon Jo, Hyungbo Shim +2
Many recent data-driven control approaches for linear time-invariant systems are based on output trajectory prediction using input-output data matrices. The system dynamics describ…
SOMBRL: Scalable and Optimistic Model-Based RL
Bhavya Sukhija, Lenart Treven, Carmelo Sferrazza +3
We address the challenge of efficient exploration in model-based reinforcement learning (MBRL), where the system dynamics are unknown and the RL agent must learn directly from onli…
Sample-efficient and Scalable Exploration in Continuous-Time RL
Klemens Iten, Lenart Treven, Bhavya Sukhija +2
Reinforcement learning algorithms are typically designed for discrete-time dynamics, even though the underlying real-world control systems are often continuous in time. In this pap…
A Markov Decision Process Framework for Early Maneuver Decisions in Satellite Collision Avoidance
Francesca Ferrara, Lander W. Schillinger Arana, Florian Dörfler +1
We develop a Markov decision process (MDP) framework to autonomously make guidance decisions for satellite collision avoidance maneuver (CAM) and a reinforcement learning policy gr…