12 papers
Nonadaptive Learning in Robust Nonlinear Output Regulation
Shimin Wang, Martin Guay, Richard D. Braatz
This paper considers robust nonadaptive regulation for general nonlinear systems in an output-feedback setting with arbitrarily high relative degree. We develop a nonadaptive desig…
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…
Data-Driven Nonlinear Regulation: Gaussian Process Learning
Telema Harry, Martin Guay, Shimin Wang +1
This article addresses the output regulation problem for a class of nonlinear systems using a data-driven approach. An output feedback controller is proposed that integrates a trad…
Nonadaptive Output Regulation of Second-Order Nonlinear Uncertain Systems
Maobin Lu, Martin Guay, Telema Harry +2
This paper investigates the robust output regulation problem of second-order nonlinear uncertain systems with an unknown exosystem. Instead of the adaptive control approach, this p…
Learning-Based Tracking Perimeter Control for Two-region Macroscopic Traffic Dynamics
Can Chen, Yunping Huang, Hongwei Zhang +4
Leveraging the concept of the macroscopic fundamental diagram (MFD), perimeter control can alleviate network-level congestion by identifying critical intersections and regulating t…
Strategic learning for disturbance rejection in multi-agent systems: Nash and Minmax in graphical games
Xinyang Wang, Martin Guay, Shimin Wang +1
This article investigates the optimal control problem with disturbance rejection for discrete-time multi-agent systems under cooperative and non-cooperative graphical games framewo…
Optimal Output Feedback Learning Control for Discrete-Time Linear Quadratic Regulation
Kedi Xie, Martin Guay, Shimin Wang +2
This paper studies the linear quadratic regulation (LQR) problem of unknown discrete-time systems via dynamic output feedback learning control. In contrast to the state feedback, t…
Partial Excitation in Parameter Learning
Ganghui Cao, Shimin Wang, Martin Guay +3
This paper investigates parameter learning problems under Partial Persistent Excitation (PPE). The PPE condition is a rank-deficient, and therefore, a more general evolution of the…
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…
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…