3 papers
cs.LG2020
Memory-Efficient Learning of Stable Linear Dynamical Systems for Prediction and Control
Giorgos Mamakoukas, Orest Xherija, T. D. Murphey
Learning a stable Linear Dynamical System (LDS) from data involves creating models that both minimize reconstruction error and enforce stability of the learned representation. We p…
cs.RO2018
Feedback Synthesis For Underactuated Systems Using Sequential Second-Order Needle Variations
Giorgos Mamakoukas, Malcolm A. MacIver, Todd D. Murphey
This paper derives nonlinear feedback control synthesis for general control affine systems using second-order actions---the second-order needle variations of optimal control---as t…
math.OC2017
Feedback Synthesis for Controllable Underactuated Systems using Sequential Second Order Actions
Giorgos Mamakoukas, Malcolm A. MacIver, Todd D. Murphey
This paper derives nonlinear feedback control synthesis for general control affine systems using second-order actions---the needle variations of optimal control---as the basis for…