10 papers · 1 filter
Robust Differential Dynamic Programming
Dennis Gramlich, Carsten W. Scherer, Christian Ebenbauer
Differential Dynamic Programming is an optimal control technique often used for trajectory generation. Many variations of this algorithm have been developed in the literature, incl…
Extremum Seeking with Intermittent Measurements: A Lie-brackets Approach
Christophe Labar, Christian Ebenbauer, Lorenzo Marconi
Extremum seeking systems are powerful methods able to steer the input of a (dynamical) cost function towards an optimizer, without any prior knowledge of the cost function. To achi…
A Note on Nussbaum-type Control and Lie-bracket Approximation
Marc Weber, Christian Ebenbauer, Bahman Gharesifard
In this paper, we propose an adaptive control law for completely unknown scalar linear systems based on Lie-bracket approximation methods. We investigate stability and convergence…
Convex Synthesis of Accelerated Gradient Algorithms
Carsten Scherer, Christian Ebenbauer
We present a convex solution for the design of generalized accelerated gradient algorithms for strongly convex objective functions with Lipschitz continuous gradients. We utilize i…
Convex Synthesis of Accelerated Gradient Algorithms for Optimization and Saddle Point Problems using Lyapunov functions
Dennis Gramlich, Christian Ebenbauer, Carsten W. Scherer
This paper considers the problem of designing accelerated gradient-based algorithms for optimization and saddle-point problems. The class of objective functions is defined by a gen…
Online learning with stability guarantees: A memory-based real-time model predictive controller
Lukas Schwenkel, Meriem Gharbi, Sebastian Trimpe +1
We propose and analyze a real-time model predictive control (MPC) scheme that utilizes stored data to improve its performance by learning the value function online with stability g…