pwc-archive/papers-with-abstracts huggingface dataset:
Leveraging Reinforcement Learning and Koopman Theory for Enhanced Model Predictive Control Performance
Authors: Md Nur-A-Adam Dony
Date: 2025-05-12 00:00:00
Tasks: Deep Reinforcement Learning, Model Predictive Control

This study presents an innovative approach to Model Predictive Control (MPC) by leveraging the powerful combination of Koopman theory and Deep Reinforcement Learning (DRL). By transforming nonlinear dynamical systems into a higher-dimensional linear regime, the Koopman operator facilitates the linear treatment of nonlinear behaviors, paving the way for more efficient control strategies. Our methodology harnesses the predictive prowess of Koopman-based models alongside the optimization capabilities of DRL, particularly using the Proximal Policy Optimization (PPO) algorithm, to enhance the controller's performance. The resulting end-to-end learning framework refines the predictive control policies to cater to specific operational tasks, optimizing both performance and economic efficiency. We validate our approach through rigorous NMPC and eNMPC case studies, demonstrating that the Koopman-RL controller outperforms traditional controllers by achieving higher stability, superior constraint satisfaction, and significant cost savings. The findings indicate that our model can be a robust tool for complex control tasks, offering valuable insights into future applications of RL in MPC.
Non-Conservative Data-driven Safe Control Design for Nonlinear Systems with Polyhedral Safe Sets
Authors: Amir Modares, Bosen Lian, Hamidreza Modares
Date: 2025-05-12 00:00:00
Tasks: Computational Efficiency

This paper presents a data-driven nonlinear safe control design approach for discrete-time systems under parametric uncertainties and additive disturbances. We first characterize a new control structure from which a data-based representation of closed-loop systems is obtained. This data-based closed-loop system is composed of two parts: 1) a parametrized linear closed-loop part and a parametrized nonlinear remainder closed-loop part. We show that using the standard practice or learning a robust controller to ensure safety while treating the remaining nonlinearities as disturbances brings about significant challenges in terms of computational complexity and conservatism. To overcome these challenges, we develop a novel nonlinear safe control design approach in which the closed-loop nonlinear remainders are learned, rather than canceled, in a control-oriented fashion while preserving the computational efficiency. To this end, a primal-dual optimization framework is leveraged in which the control gains are learned to enforce the second-order optimality on the closed-loop nonlinear remainders. This allows us to account for nonlinearities in the design for the sake of safety rather than treating them as disturbances. This new controller parameterization and design approach reduces the computational complexity and the conservatism of designing a safe nonlinear controller. A simulation example is then provided to show the effectiveness of the proposed data-driven controller.
Integrated Localization and Path Planning for an Ocean Exploring Team of Autonomous Underwater Vehicles with Consensus Graph Model Predictive Control
Authors: Mohsen Eskandari, Andrey V. Savkin, Mohammad Deghat
Date: 2025-05-12 00:00:00
Tasks: Model Predictive Control

Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data collection, and ocean exploration missions. Efficient path planning and accurate localization are essential, the latter of which is critical due to the lack of global localization signals and poor radio frequency (RF) communication in deep waters. Inertial navigation and acoustic communication are common solutions for localization. However, the former is subject to odometry drifts, and the latter is limited to short distances. This paper proposes a systematic approach for localization-aware energy-efficient collision-free path planning for a USV-AUVs team. Path planning is formulated as finite receding horizon model predictive control (MPC) optimization. A dynamic-aware linear kinodynamic motion equation is developed. The mathematical formulation for the MPC optimization is effectively developed where localization is integrated as consensus graph optimization among AUV nodes. Edges in the optimized AUV-to-USV (A2U) and AUV-to-AUV (A2A) graphs are constrained to the sonar range of acoustic modems. The time complexity of the consensus MPC optimization problem is analyzed, revealing a nonconvex NP-hard problem, which is solved using sequential convex programming. Numerical simulation results are provided to evaluate the proposed method.
Optimal Low Emission Zones scheduling as an example of transport policy backcasting
Authors: Asmae Alami, Vinith Lakshmanan, Antonio Sciarretta
Date: 2025-05-12 00:00:00
Tasks: Scheduling

This study presents a backcasting approach that considers the passenger car fleet dynamics to determine optimal policy roadmaps in transport systems. As opposed to the scenario-based approach, backcasting sets emission reduction targets first, then identifies policies that meet the constraint. The policy is the implementation of Low Emission Zones (LEZs), in the Ile-de-France region as a case study. The aim is to minimize the number of scrapped vehicles due to LEZs under CO2 emission targets and to deduce an interdiction schedule of polluting vehicles by 2050. To explore potential solutions, we use a genetic algorithm that provides a first insight into optimal policy pathways.
High Performance Signal Design for ACO-OFDM Systems using Variational Autoencoder
Authors: Nam N. Luong, Chuyen T. Nguyen, Thanh V. Pham
Date: 2025-05-12 00:00:00

This letter proposes a design of low peak-to-average power ratio (PAPR), low symbol error rate (SER), and high data rate signal for asymmetrically clipped optical orthogonal frequency division multiplexing (ACO-OFDM) systems. The proposed design leverages a variational autoencoder (VAE) incorporating gradual loss learning to jointly optimize the geometry and probability of the constellation's symbols. This not only enhances mutual information (MI) but also effectively reduces the PAPR while maintaining a low SER for reliable transmission. We evaluate the performance of the proposed VAE-based design by comparing the MI, SER, and PAPR against existing techniques. Simulation results demonstrate that the proposed method achieves a considerably lower PAPR while maintaining superior SER and MI performance for a wide range of SNRs.
A Novel Online Pseudospectral Method for Approximation of Nonlinear Systems Dynamics
Authors: Arian Yousefian, Avimanyu Sahoo, Vignesh Narayanan
Date: 2025-05-12 00:00:00
Tasks: State Estimation

This paper presents a novel online system identification approach utilizing the Chebyshev pseudospectral (PS) method to approximate the dynamics of a continuous-time nonlinear system. Unlike conventional periodic sampling, the proposed identification scheme employs aperiodic state sampling, leveraging the Chebyshev nodes to achieve the desired approximation accuracy. Unlike traditional off-line PS approaches, the scheme utilizes a moving time-window strategy to compute the sampling instants (Chebyshev nodes) forward in time for state measurements. Within each time window, the number of sampling instants is adaptively determined to meet the specified approximation accuracy. The Chebyshev basis is also shifted for each time window to accommodate arbitrary approximation intervals. The least-squares approach is employed to estimate the coefficients of the shifted Chebyshev basis functions using the measured state and its derivatives at the end of each window, resulting in a piecewise approximation of the drift dynamics of the system. In the second step, the identified drift dynamics are utilized to design an adaptive state estimator to reconstruct the continuous system states from the aperiodic state measurements. To address the smoothness of the piecewise approximated system dynamics, the Chebyshev coefficients are recomputed at the window transition instants, between two consecutive time windows, by enforcing continuity of the approximated function and its derivatives. In addition, analytical results are provided to determine the number of sampling instants within each time window, which guarantees the desired approximation accuracy. The boundedness of function approximation and state estimation errors is also proved analytically. Finally, numerical simulation results are included to validate the proposed scheme.
Economic data-enabled predictive control using machine learning
Authors: Mingxue Yan, Xuewen Zhang, Kaixiang Zhang, Zhaojian Li, Xunyuan Yin
Date: 2025-05-12 00:00:00
Tasks: Chemical Process

In this paper, we propose a convex data-based economic predictive control method within the framework of data-enabled predictive control (DeePC). Specifically, we use a neural network to transform the system output into a new state space, where the nonlinear economic cost function of the underlying nonlinear system is approximated using a quadratic function expressed by the transformed output in the new state space. Both the neural network parameters and the coefficients of the quadratic function are learned from open-loop data of the system. Additionally, we reconstruct constrained output variables from the transformed output through learning an output reconstruction matrix; this way, the proposed economic DeePC can handle output constraints explicitly. The performance of the proposed method is evaluated via a case study in a simulated chemical process.
OPTIKS: Optimized Gradient Properties Through Timing in K-Space
Authors: Matthew A. McCready, Xiaozhi Cao, Kawin Setsompop, John M. Pauly, Adam B. Kerr
Date: 2025-05-11 00:00:00
Tasks: ARC

A customizable method (OPTIKS) for designing fast trajectory-constrained gradient waveforms with optimized time domain properties was developed. Given a specified multidimensional k-space trajectory, the method optimizes traversal speed (and therefore timing) with position along the trajectory. OPTIKS facilitates optimization of objectives dependent on the time domain gradient waveform and the arc-length domain k-space speed. OPTIKS is applied to design waveforms which limit peripheral nerve stimulation (PNS), minimize mechanical resonance excitation, and reduce acoustic noise. A variety of trajectory examples are presented including spirals, circular echo-planar-imaging, and rosettes. Design performance is evaluated based on duration, standardized PNS models, field measurements, gradient coil back-EMF measurements, and calibrated acoustic measurements. We show reductions in back-EMF of up to 94% and field oscillations up to 91.1%, acoustic noise decreases of up to 9.22 dB, and with efficient use of PNS models speed increases of up to 11.4%. The design method implementation is made available as an open source Python package through GitHub.
Design and Experimental Test of Datatic Approximate Optimal Filter in Nonlinear Dynamic Systems
Authors: Weixian He, Zeyu He, Wenhan Cao, Haoyu Gao, Tong Liu, Bin Shuai, Chang Liu, Shengbo Eben Li
Date: 2025-05-11 00:00:00
Tasks: Computational Efficiency, Reinforcement Learning (RL), State Estimation

Filtering is crucial in engineering fields, providing vital state estimation for control systems. However, the nonlinear nature of complex systems and the presence of non-Gaussian noises pose significant challenges to the performance of conventional filtering methods in terms of estimation accuracy and computational efficiency. In this work, we present a data-driven closed-loop filter, termed datatic approximate optimal filter (DAOF), specifically designed for nonlinear systems under non-Gaussian conditions. We first formulate a Markovian filtering problem (MFP), which inherently shares a connection with reinforcement learning (RL) as it aims to compute the optimal state estimate by minimizing the accumulated error. To solve MFP, we propose DAOF, which primarily incorporates a trained RL policy and features two distinct structural designs: DAOF-v1 and DAOF-v2. Designed for systems with explicit models, DAOF-v1 combines prediction and update phases, with the RL policy generating the update value. Meanwhile, DAOF-v2 bypasses system modeling by directly outputting the state estimate. Then, we utilize an actor-critic algorithm to learn the parameterized policy for DAOF. Experimental results on a 2-degree-of-freedom (2-DOF) vehicle system, equipped with explicit system models, demonstrate the superior accuracy and computational efficiency of DAOF-v1 compared to existing nonlinear filters. Moreover, DAOF-v2 showcases its unique ability to perform filtering without requiring explicit system modeling, as validated by a 14-DOF vehicle system.
Decentralized Stealth Attacks on Cyber-Physical Systems
Authors: Xiuzhen Ye, Inaki Esnaola, Samir M. Perlaza, Robert F. Harrison
Date: 2025-05-11 00:00:00

Decentralized stealth attack constructions that minimize the mutual information between the state variables and the measurements are proposed. The attack constructions are formulated as random Gaussian attacks targeting Cyber-physical systems that aims at minimizing the mutual information between the state variables and measurements while constraining the Kullback-Leibler divergence between the distribution of the measurements under attacks and the distribution of the measurements without attacks. The proposed information metrics adopted measure the disruption and attack detection both globally and locally. The decentralized attack constructions are formulated in a framework of normal games. The global and local information metrics yield games with global and local objectives in disruption and attack detection. We have proven the games are potential games and the convexity of the potential functions followed by the uniqueness and the achievability of the Nash Equilibrium, accordingly. We proposed a best response dynamics to achieve the Nash Equilibrium of the games. We numerically evaluate the performance of the proposed decentralized stealth random attacks on IEEE test systems and show it is feasible to exploit game theoretic techniques in decentralized attack constructions.
Robust Control of Uncertain Switched Affine Systems via Scenario Optimization
Authors: Negar Monir, Mahdieh S. Sadabadi, Sadegh Soudjani
Date: 2025-05-11 00:00:00

Switched affine systems are often used to model and control complex dynamical systems that operate in multiple modes. However, uncertainties in the system matrices can challenge their stability and performance. This paper introduces a new approach for designing switching control laws for uncertain switched affine systems using data-driven scenario optimization. Instead of relaxing invariant sets, our method creates smaller invariant sets with quadratic Lyapunov functions through scenario-based optimization, effectively reducing chattering effects and regulation error. The framework ensures robustness against parameter uncertainties while improving accuracy. We validate our method with applications in multi-objective interval Markov decision processes and power electronic converters, demonstrating its effectiveness.
Optimal Current Control Strategy for Reliable Power Electronics Converters: Frequency-Domain Approach
Authors: Amin Rezaeizadeh, Silvia Mastellone
Date: 2025-05-11 00:00:00

Power electronics converters are key enablers in the global energy transition for power generation, industrial and mobility applications; they convert electrical power in a controlled, reliable and efficient manner. The semiconductor switching devices, at the core of power converters, are the most likely component to fail due to the damage caused by the current-induced temperature cycling. Damage models of semiconductors have been developed and employed to study their reliability, improve their design and to estimate the lifetime of the converter in various power applications. However, those models can offer more if employed in the design of strategies to actively operate the converter. Specifically, properly controlling the current, and hence the temperature cycling, can effectively contribute to reducing the accumulated damage in the semiconductor and increase its reliability and lifetime. In this paper we propose a novel current control approach that integrates reliability requirements into the design framework, based on a frequency-domain model of the semiconductor damage.
Time-Modulated EM Skins for Integrated Sensing and Communications
Authors: Lorenzo Poli, Aakash Bansal, Giacomo Oliveri, Aaron Angel Salas-Sanchez, Will Whittow, Andrea Massa
Date: 2025-05-11 00:00:00
Tasks: global-optimization, Integrated sensing and communication, ISAC

An innovative solution, based on the exploitation of the harmonic beams generated by time-modulated electromagnetic skins (TM-EMSs), is proposed for the implementation of integrated sensing and communication (ISAC) functionalities in a Smart Electromagnetic Environment (SEME) scenario. More in detail, the field radiated by a user terminal, located at an unknown position, is assumed to illuminate a passive TM-EMS that, thanks to a suitable modulation of the local reflection coefficients at the meta-atom level of the EMS surface, simultaneously reflects towards a receiving base station (BS) a "sum" beam and a "difference" one at slightly different frequencies. By processing the received signals and exploiting monopulse radar tracking concepts, the BS both localizes the user terminal and, as a by-product, establishes a communication link with it by leveraging on the "sum" reflected beam. Towards this purpose, the arising harmonic beam control problem is reformulated as a global optimization one, which is successively solved by means of an evolutionary iterative approach to determine the desired TM-EMS modulation sequence. The results from selected numerical and experimental tests are reported to assess the effectiveness and the reliability of the proposed approach.
Nonlinear Model Predictive Control for Leaderless UAV Formation Flying with Collision Avoidance under Directed Graphs
Authors: Yiming Wang, Yao Fang, Jie Mei, Youmin Gong, Guangfu Ma
Date: 2025-05-11 00:00:00
Tasks: Collision Avoidance, Model Predictive Control, Navigate

This paper studies the leaderless formation flying problem with collision avoidance for a group of unmanned aerial vehicles (UAVs), which requires the UAVs to navigate through cluttered environments without colliding while maintaining the formation. The communication network among the UAVs is structured as a directed graph that includes a directed spanning tree. A novel distributed nonlinear model predictive control (NMPC) method based on the model reference adaptive consensus (MRACon) framework is proposed. Within this framework, each UAV tracks an assigned reference output generated by a linear reference model that utilizes relative measurements as input. Subsequently, the NMPC method penalizes the tracking error between the output of the reference model and that of the actual model while also establishing constraint sets for collision avoidance and physical limitations to achieve distributed and safe formation control. Finally, simulations and hardware experiments are conducted to verify the effectiveness of the proposed method.
Secure Safety Filter Design for Sampled-data Nonlinear Systems under Sensor Spoofing Attacks
Authors: Xiao Tan, Pio Ong, Paulo Tabuada, Aaron D. Ames
Date: 2025-05-11 00:00:00
Tasks: State Estimation

This paper presents a secure safety filter design for nonlinear systems under sensor spoofing attacks. Existing approaches primarily focus on linear systems which limits their applications in real-world scenarios. In this work, we extend these results to nonlinear systems in a principled way. We introduce exact observability maps that abstract specific state estimation algorithms and extend them to a secure version capable of handling sensor attacks. Our generalization also applies to the relaxed observability case, with slightly relaxed guarantees. More importantly, we propose a secure safety filter design in both exact and relaxed cases, which incorporates secure state estimation and a control barrier function-enabled safety filter. The proposed approach provides theoretical safety guarantees for nonlinear systems in the presence of sensor attacks. We numerically validate our analysis on a unicycle vehicle equipped with redundant yet partly compromised sensors.
Control Barrier Functions With Real-Time Gaussian Process Modeling
Authors: Ricardo Gutierrez, Jesse B. Hoagg
Date: 2025-05-10 00:00:00

We present an approach for satisfying state constraints in systems with nonparametric uncertainty by estimating this uncertainty with a real-time-update Gaussian process (GP) model. Notably, new data is incorporated into the model in real time as it is obtained and select old data is removed from the model. This update process helps improve the model estimate while keeping the model size (memory required) and computational complexity fixed. We present a recursive formulation for the model update, which reduces time complexity of the update from O(p3) to O(p2), where p is the number of data used. The GP model includes a computable upper bound on the model error. Together, the model and upper bound are used to construct a control-barrier-function (CBF) constraint that guarantees state constraints are satisfied.
A Novel Inverter Control Strategy with Power Decoupling for Microgrid Operations in Grid-Connected and Islanded Modes
Authors: Yan Tong, Qin Wang, Aihong Tang
Date: 2025-05-10 00:00:00

Grid-forming, particularly those utilizing droop control and virtual synchronous generators (VSG), can actively regulate the frequency and voltage of microgrid systems, exhibiting dynamic characteristics akin to those of synchronous generators. Although droop control and VSG control each have distinct benefits, neither can fully meet the diverse, dynamic needs of both grid-connected (GC) and islanded (IS) modes. Additionally, the coupling between active and reactive power can negatively impact microgrids' dynamic performance and stability. To solve these problems, this paper introduces a unified dynamic power coupling (UDC) model. This model's active power control loop can be tailored to meet diverse requirements. By implementing a well-designed control loop, the system can harness the advantages of both droop control and VSG control. In islanded mode, the proposed model can provide virtual inertia and damping properties, while in grid-connected mode, the inverter's active power output can follow the changed references without significant overshoot or oscillation. Furthermore, the model incorporates coupling compensation and virtual impedance based on a relative gain array in the frequency domain to facilitate quantitative analysis of power coupling characteristics. This paper outlines a distinct design process for the unified model. Finally, the proposed control method has been validated through simulation.