Multi-Parametric Extremum Seeking-based Auto-Tuning for Robust Input-Output Linearization Control

We study in this paper the problem of iterative feedback gains tuning for a class of nonlinear systems. We consider Input-Output linearizable nonlinear systems with additive uncertainties. We first design a nominal Input-Output linearization-based controller that ensures global uniform boundedness of the output tracking error dynamics. Then, we complement the robust controller with a model-free multi-parametric extremum seeking (MES) control to iteratively auto-tune the feedback gains. We analyze the stability of the whole controller, i.e. robust nonlinear controller plus model-free learning algorithm. We use numerical tests to demonstrate the performance of this method on a mechatronics example.Comment: To appear at the IEEE CDC 201

Extremum Seeking-based Iterative Learning Linear MPC

In this work we study the problem of adaptive MPC for linear time-invariant uncertain models. We assume linear models with parametric uncertainties, and propose an iterative multi-variable extremum seeking (MES)-based learning MPC algorithm to learn on-line the uncertain parameters and update the MPC model. We show the effectiveness of this algorithm on a DC servo motor control example.Comment: To appear at the IEEE MSC 201

Risk-Averse Model Uncertainty for Distributionally Robust Safe Reinforcement Learning

Many real-world domains require safe decision making in uncertain environments. In this work, we introduce a deep reinforcement learning framework for approaching this important problem. We consider a distribution over transition models, and apply a risk-averse perspective towards model uncertainty through the use of coherent distortion risk measures. We provide robustness guarantees for this framework by showing it is equivalent to a specific class of distributionally robust safe reinforcement learning problems. Unlike existing approaches to robustness in deep reinforcement learning, however, our formulation does not involve minimax optimization. This leads to an efficient, model-free implementation of our approach that only requires standard data collection from a single training environment. In experiments on continuous control tasks with safety constraints, we demonstrate that our framework produces robust performance and safety at deployment time across a range of perturbed test environments.Comment: 37th Conference on Neural Information Processing Systems (NeurIPS 2023

Fixed-Time Stable Proximal Dynamical System for Solving MVIPs

In this paper, a novel modified proximal dynamical system is proposed to compute the solution of a mixed variational inequality problem (MVIP) within a fixed time, where the time of convergence is finite, and is uniformly bounded for all initial conditions. Under the assumptions of strong monotonicity and Lipschitz continuity, it is shown that a solution of the modified proximal dynamical system exists, is uniquely determined and converges to the unique solution of the associated MVIP within a fixed time. As a special case for solving variational inequality problems, the modified proximal dynamical system reduces to a fixed-time stable projected dynamical system. Furthermore, the fixed-time stability of the modified projected dynamical system continues to hold, even if the assumption of strong monotonicity is relaxed to that of strong pseudomonotonicity. Connections to convex optimization problems are discussed, and commonly studied dynamical systems in the continuous-time optimization literature follow as special limiting cases of the modified proximal dynamical system proposed in this paper. Finally, it is shown that the solution obtained using the forward-Euler discretization of the proposed modified proximal dynamical system converges to an arbitrarily small neighborhood of the solution of the associated MVIP within a fixed number of time steps, independent of the initial conditions. Two numerical examples are presented to substantiate the theoretical convergence guarantees.Comment: 12 pages, 5 figure