NCM-based Autonomous and Real-time Robust Motion Planning of Aerospace Explorers
We created a brand-new Website for this topic!
NCM: How can robotic explorers under uncertainty take optimal and provably-stable actions in real-time?
Neural Contraction Metrics (NCMs) for Robust Estimation and Control We created a brand-new Website for this topic! We have developed new deep learning-based framework for robust nonlinear estimation and control using the concept of an NCM. NCM-based State Estimation and Control It globally models optimal contraction metrics sampled offline using …
CV-STEM: Optimal and Provably-Stable Feedback Control of Stochastic Nonlinear Systems
ConVex optimization-based Stochastic steady-state Tracking Error Minimization (CV-STEM) We created a brand-new Website for this topic! CV-STEM is a new optimal state feedback control framework for a class of Itô stochastic nonlinear systems and Lagrangian systems. CV-STEM Control Computes its control input by an optimal contraction metric M(x,t), which greedily minimizes …
