Robust nonlinear control of vectored thrust aircraft

An interdisciplinary program in robust control for nonlinear systems with applications to a variety of engineering problems is outlined. Major emphasis will be placed on flight control, with both experimental and analytical studies. This program builds on recent new results in control theory for stability, stabilization, robust stability, robust performance, synthesis, and model reduction in a unified framework using Linear Fractional Transformations (LFT's), Linear Matrix Inequalities (LMI's), and the structured singular value micron. Most of these new advances have been accomplished by the Caltech controls group independently or in collaboration with researchers in other institutions. These recent results offer a new and remarkably unified framework for all aspects of robust control, but what is particularly important for this program is that they also have important implications for system identification and control of nonlinear systems. This combines well with Caltech's expertise in nonlinear control theory, both in geometric methods and methods for systems with constraints and saturations

Shrewd Selection Speeds Surfing: Use Smart EXP3!

In this paper, we explore the use of multi-armed bandit online learning techniques to solve distributed resource selection problems. As an example, we focus on the problem of network selection. Mobile devices often have several wireless networks at their disposal. While choosing the right network is vital for good performance, a decentralized solution remains a challenge. The impressive theoretical properties of multi-armed bandit algorithms, like EXP3, suggest that it should work well for this type of problem. Yet, its real-word performance lags far behind. The main reasons are the hidden cost of switching networks and its slow rate of convergence. We propose Smart EXP3, a novel bandit-style algorithm that (a) retains the good theoretical properties of EXP3, (b) bounds the number of switches, and (c) yields significantly better performance in practice. We evaluate Smart EXP3 using simulations, controlled experiments, and real-world experiments. Results show that it stabilizes at the optimal state, achieves fairness among devices and gracefully deals with transient behaviors. In real world experiments, it can achieve 18% faster download over alternate strategies. We conclude that multi-armed bandit algorithms can play an important role in distributed resource selection problems, when practical concerns, such as switching costs and convergence time, are addressed.Comment: Full pape