Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 12 of 12 for “"Inverse Optimal Control"”.
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Faster apprenticeship learning through inverse optimal control
… intelligence is learning how to behave optimally. With applications ranging from self-driving cars to medical devices, this task is vital to modern society. There are two complementary problems in this area – reinforcement learning and inverse reinforcement learning. While reinforcement …
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Dynamic Neural Network-based Adaptive Inverse Optimal Control Design
… Neural Network (DNN) model based adaptive inverse optimal control design for a class of nonlinear systems. A DNN structure is developed and stabilized based on a control Lyapunov function (CLF). The CLF must satisfy the partial Hamilton Jacobi-Bellman (HJB) equation to solve the cost …
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Inverse optimal control for deterministic continuous-time nonlinear systems
Inverse optimal control is the problem of computing a cost function with respect to which observed state input trajectories are optimal. We present a new method of inverse optimal control based on minimizing the extent to which observed trajectories violate first-order necessary conditions for …
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The Science of Mind Reading: New Inverse Optimal Control Framework
Continuous control and planning by the brain remain poorly understood and is a major challenge in the field of Neuroscience. To truly say that we understand the underlying mechanisms we should first be able to explain the behavioral actions of the animals, so that we can relate the neural activity …
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Electrophysiology, agent-based modeling and inverse optimal control applications in neuroethology
… memory, from which assessment of outcomes and optimal action selection emerge. In foraging, animals tend to make decisions that reconcile two core goals: energy maximization and time minimization. The predatory sea-slug Pleurobranchaea californica has a simple, accessible nervous system and …
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Inverse optimal control for differentially flat systems with application to lower-limb prosthetic devices
… by some challenges, in particular in prosthetic controller design. A common control framework for these devices is called impedance control. The challenge in the application of this framework is that it requires the choice of many controller parameters, which are chosen by clinicians through …
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Monitoring and control of extreme congestion events in road traffic networks
… Specifically, a method to estimate traffic controller strategies at intersections in a road network using inverse optimal control and a method to normalize traffic data collected using TrafficTurk are explained in detail. Additionally, practical implementation knowledge gained thus far …
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Terrain and Adversary-Aware Autonomous Robot Navigation
… from an adversary) using the Preference-based Inverse Reward Learning (PbIRL) methodology. The PbIRL methodology reduces the barrier of generating initial demonstration data to learn the terrain affordances by using a human expert’s preferences to learn individual weights over the terrain types …
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Advances in Control of Uncertain Dynamical Systems with Optimal and Adaptive Approaches
<p>"This research starts with designing optimal control for uncertain systems, adding the adaptive control input to suppress the uncertainty. It then follows with designing the optimal control for state constraint, designing the optimal nonlinear reference model, designing adaptive control to …
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Assistive HRI interface with perceptual feedback control: an approach to customizing assistance based on user dexterity
… fixture parameters to yield the assistive control and perceptual (haptic and visual) feedbacks which are customized for a specific user. First, we model a user as a cost function using the techniques from inverse optimal control (IOC). With the underlying assumption – human users are …
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Performance and stability in decentralised network systems with applications to distributed optimisation and power systems
… applications, with the concept of decentralised control playing an essential role in regulating the behaviour of large-scale, heterogeneous architectures. Ensuring that such controllers perform well when interconnected with the rest of the network, while also guaranteeing that the interconnection …
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The interplay between information and control theory within interactive decision-making problems
… agent. This thesis focuses on using stochastic control and information theoretic tools hand-in-hand in solving and analyzing an interactive two-agent sequential decision-making problem. Stochastic control techniques can help in identifying optimal strategies for sequential decision making based …