Discrete-time data-driven control with Hölder-continuous real-time learning

Optimal Finite-time Control of Positive Linear Discrete-time Systems

This paper considers solving optimization problem for linear discrete time systems such that closed-loop discrete-time system is positive (i.e., all of its state variables have non-negative values) and also finite-time stable. For this purpose, by considering a quadratic cost function, an optimal controller is designed such that in addition to minimizing the cost function, the positivity proper...

Discrete-time repetitive optimal control: Robotic manipulators

This paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. The proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. This kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...

Continuous-time consensus with discrete-time communications

This paper addresses the problem of reaching consensus among a group of agents that evolve in continuous-time and exchange information at discretetime instants, referred to as update times. Each agent has its own sequence of update times and therefore the agents are not required to keep synchronized clocks among them. At each update time, an agent receives from a subset of the other agents thei...

Continuous-time AR process parameter estimation from discrete-time data

The problem of estimating continuous-time autoregressive process parameters from discrete-time data is considered. The basic approach used here is based on replacing the derivatives in the model by discrete-time di erences, forming a linear regression and using the least squares method. It is known, however, that all standard approximations of the highest order derivative give a biased least sq...

Real-Time Reinforcement Learning in Continuous Domains