4 papers
Simple yet Effective Anti-windup Techniques for Amplitude and Rate Saturation: An Autonomous Underwater Vehicle Case Study
Pouria Sarhadi
Actuator amplitude and rate saturation (A\&RSat), together with their consequent windup problem, have long been recognised as challenges in control systems. Anti-windup (AW) soluti…
On the Standard Performance Criteria for Applied Control Design: PID, MPC or Machine Learning Controller?
Pouria Sarhadi
The traditional control theory and its application to basic and complex systems have reached an advanced level of maturity. This includes aerial, marine, and ground vehicles, as we…
Deep Reinforcement Learning in Applied Control: Challenges, Analysis, and Insights
Klinsmann Agyei, Pouria Sarhadi, Daniel Polani
Over the past decade, remarkable progress has been made in adopting deep neural networks to enhance the performance of conventional reinforcement learning. A notable milestone was…
Large Language Model-based Decision-making for COLREGs and the Control of Autonomous Surface Vehicles
Klinsmann Agyei, Pouria Sarhadi, Wasif Naeem
In the field of autonomous surface vehicles (ASVs), devising decision-making and obstacle avoidance solutions that address maritime COLREGs (Collision Regulations), primarily defin…