We present a deep neural-net-based controller trained by model-free reinforcement learning (RL) algorithm to achieve hover stabilization for quadrotor unmanned aerial vehicle (UAV). With RL, two neural nets are trained. One net is used as stochastic controller, which gives the distribution of control inputs. The other maps UAV state scalar, estimates reward controller. A proximal policy optimiz...

in this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. stability conditions are derived by studying unactuated dynamics and using the poincarã© map associated with periodic walking gaits. a stable gait is designed by an optimization process satisfying physical constraints and stability conditions. also, considering...

We consider the exact controllability problem on a compact manifold Ω for two coupled wave equations, with a control function acting on one of them only. Action on the second wave equation is obtained through a coupling term. First, when the two waves propagate with the same speed, we introduce the time Tω→O→ω for which all geodesics traveling in Ω go through the control region ω, then through ...

Department of Biological Science and Technology, National Chiao Tung University, Hsinchu, Taiwan, Republic of China Brain Research Center, National Chiao Tung University, Hsinchu, Taiwan, Republic of China Department of Automatic Control, National Taiwan University of Science and Technology, Taipei City, Taiwan, Republic of China Institute of Electrical Control Engineering, National Chiao Tung ...

This paper deals with visual servoing for a pan and tilt camera embedded in a drone. Video is transmitted to the ground where images are processed on a PC, and turret controls are sent back to the drone. The objective is to track any fixed object on the ground without knowledge about shape or texture and to keep it centered in the image. In order to achieve this task an algorithm that combines ...

We consider a stochastic control model in which an economic unit has productive capital and also liabilities in the form of debt. The worth of capital changes over time through investment, and also through random Brownian fluctuations in the unit price of capital. Income from production is also subject to random Brownian fluctuations. The goal is to choose investment and consumption controls wh...

We consider a stochastic control model driven by a fractional Brownian motion. This model is a formal approximation to a queueing network with an ON–OFF input process. We study stochastic control problems associated with the long-run average cost, the infinite-horizondiscounted cost, and thefinite-horizon cost. In addition, wefind a solution to a constrained minimization problem as an applicati...

Internet-of-things systems using mobile networks, such as automobiles, drones, and robots, will become more sophisticated through remote control cooperative operation. In networked (NCSs), co-design of network application is necessary to achieve stable operation at the level well ultra-low latency high reliability level. We previously proposed a bandwidth-reserved transmission rate method for a...

Abstract. We consider solutions of the equation −Δu + λu + |∇u|q = f , which blow up uniformly at the boundary of a smooth domain, that can be interpreted as the value function of a state constraint control problem for a Brownian motion. We prove a complete asymptotic expansion of the gradient at the boundary, giving the precise behavior of normal and tangent components. The result is achieved ...