5 papers
Learning a Contracting KKL-observer with Local Optimal Guarantees
Clara LucÃa Galimberti, Johan Peralez, Daniele Astolfi +2
The Kazantzis-Kravaris-Luenberger (KKL) observer provides a general framework for nonlinear state estimation by immersing the system dynamics into a stable linear or nonlinear late…
PAC-Bayesian Optimal Control with Stability and Generalization Guarantees
Mahrokh Ghoddousi Boroujeni, Clara LucÃa Galimberti, Andreas Krause +1
Stochastic Nonlinear Optimal Control (SNOC) seeks to minimize a cost function that accounts for random disturbances acting on a nonlinear dynamical system. Since the expectation ov…
Neural Identification of Feedback-Stabilized Nonlinear Systems
Mahrokh G. Boroujeni, Laura Meroi, Leonardo Massai +2
Neural networks have demonstrated remarkable success in modeling nonlinear dynamical systems. However, identifying these systems from closed-loop experimental data remains a challe…
Parametrizations of All Stable Closed-loop Responses: From Theory to Neural Network Control Design
Clara LucÃa Galimberti, Luca Furieri, Giancarlo Ferrari-Trecate
The complexity of modern control systems necessitates architectures that achieve high performance while ensuring robust stability, particularly for nonlinear systems. In this work,…
A PAC-Bayesian Framework for Optimal Control with Stability Guarantees
Mahrokh Ghoddousi Boroujeni, Clara LucÃa Galimberti, Andreas Krause +1
Stochastic Nonlinear Optimal Control (SNOC) involves minimizing a cost function that averages out the random uncertainties affecting the dynamics of nonlinear systems. For tractabi…