Explanipedia

Excitation for Adaptive Optimal Control of Nonlinear Systems in Differential Games Open

Philipp Karg, Florian Köpf, Christian Alexander Braun, Sören Hohmann · 2022

This work focuses on the fulfillment of the Persistent Excitation (PE) condition for signals which result from transformations by means of polynomials. This is essential e.g. for the convergence of Adaptive Dynamic Programming algorithms d…

Adaptive Optimal Trajectory Tracking Control Applied to a Large-Scale Ball-on-Plate System Open

Florian Köpf, Sean Kille, Jairo Inga, Sören Hohmann · 2021

While many theoretical works concerning Adaptive Dynamic Programming (ADP) have been proposed, application results are scarce. Therefore, we design an ADP-based optimal trajectory tracking controller and apply it to a large-scale ball-on-p…

Adaptive Optimal Trajectory Tracking Control Applied to a Large-Scale\n Ball-on-Plate System Open

Florian Köpf, Sean Kille, Jairo Inga, Sören Hohmann · 2020

While many theoretical works concerning Adaptive Dynamic Programming (ADP)\nhave been proposed, application results are scarce. Therefore, we design an\nADP-based optimal trajectory tracking controller and apply it to a large-scale\nball-o…

Adaptive optimal control for reference tracking independent of exo-system dynamics Open

Florian Köpf, Johannes Westermann, Michael Flad, Sören Hohmann · 2020

Partner Approximating Learners (PAL): Simulation-Accelerated Learning with Explicit Partner Modeling in Multi-Agent Domains Open

Florian Köpf, Alexander Nitsch, Michael Flad, Sören Hohmann · 2020

Mixed cooperative-competitive control scenarios such as human-machine interaction with individual goals of the interacting partners are very challenging for reinforcement learning agents. In order to contribute towards intuitive human-mach…

Adaptive dynamic programming for model‐free tracking of trajectories with time‐varying parameters Open

Florian Köpf, Simon Ramsteiner, Michael Flad, Sören Hohmann · 2020

Summary Recently proposed adaptive dynamic programming (ADP) tracking controllers assume that the reference trajectory follows time‐invariant exo‐system dynamics—an assumption that does not hold for many applications. In order to overcome …

Deep Decentralized Reinforcement Learning for Cooperative Control Open

Florian Köpf, Samuel Tesfazgi, Michael Flad, Sören Hohmann · 2020

Inverse Dynamic Games Based on Maximum Entropy Inverse Reinforcement Learning Open

Jairo Inga, Esther Bischoff, Florian Köpf, Sören Hohmann · 2019

We consider the inverse problem of dynamic games, where cost function parameters are sought which explain observed behavior of interacting players. Maximum entropy inverse reinforcement learning is extended to the N-player case in order to…

Inverse Cooperative and Non-Cooperative Dynamic Games Based on Maximum Entropy Inverse Reinforcement Learning. Open

Jairo Inga, Esther Bischoff, Florian Köpf, Michael Flad, Sören Hohmann · 2019

Dynamic game theory provides mathematical means for modeling the interaction between several players, where their decisions are explained by individual cost functions. The inverse problem of dynamic games, where cost functions are sought w…

Deep Decentralized Reinforcement Learning for Cooperative Control Open

Florian Köpf, Samuel Tesfazgi, Michael Flad, Sören Hohmann · 2019

In order to collaborate efficiently with unknown partners in cooperative control settings, adaptation of the partners based on online experience is required. The rather general and widely applicable control setting, where each cooperation …

Adaptive Dynamic Programming for Model-free Tracking of Trajectories\n with Time-varying Parameters Open

Florian Köpf, Simon Ramsteiner, Michael Flad, Sören Hohmann · 2019

In order to autonomously learn to control unknown systems optimally w.r.t. an\nobjective function, Adaptive Dynamic Programming (ADP) is well-suited to adapt\ncontrollers based on experience from interaction with the system. In recent\nyea…

Partner Approximating Learners (PAL): Simulation-Accelerated Learning\n with Explicit Partner Modeling in Multi-Agent Domains Open

Florian Köpf, Alexander Nitsch, Michael Flad, Sören Hohmann · 2019

Mixed cooperative-competitive control scenarios such as human-machine\ninteraction with individual goals of the interacting partners are very\nchallenging for reinforcement learning agents. In order to contribute towards\nintuitive human-m…

Reinforcement-Learning-based Adaptive Optimal Control for Arbitrary Reference Tracking. Open

Florian Köpf, Johannes Westermann, Michael Flad, Sören Hohmann · 2019

Adaptive Optimal Control for Reference Tracking Independent of\n Exo-System Dynamics Open

Florian Köpf, Johannes Westermann, Michael Flad, Sören Hohmann · 2019

Model-free control based on the idea of Reinforcement Learning is a promising\napproach that has recently gained extensive attention. However,\nReinforcement-Learning-based control methods solely focus on the regulation\nproblem or learn t…

Model-Based Control of a Large-Scale Ball-on-Plate System With Experimental Validation Open

Adam Kastner, Jairo Inga, Thomas Blauth, Florian Köpf, Michael Flad , et al. · 2019

A ball-on-plate system is a widespread education oriented laboratory experiment for automation in mechatronics. The setup combines elements of mechanical, electrical and control engineering and is an adequate setup for learning the combina…

Großtechnische Umsetzung von Abbruch-, Rückbau- und Recyclingversuchen an Carbonbetonbauteilen Open

Florian Köpf, Jan Kortmann · 2018

Versatile and efficient rapid-mixing liquid jets Open

Diana C. F. Monteiro, Florian Köpf, Rafaela Fuchs, Martin Trebbin · 2017

Individual human behavior identification using an inverse reinforcement learning method Open

Jairo Inga, Florian Köpf, Michael Flad, Sören Hohmann · 2017

Shared control techniques have a great potential to create synergies in human-machine interaction for efficient and safe applications. However, an optimal interaction requires the machine to consider the individual behavior of the human pa…

Inverse Reinforcement Learning for Identification in Linear-Quadratic Dynamic Games Open

Florian Köpf, Jairo Inga, Simon Rothfuß, Michael Flad, Sören Hohmann · 2017

The theory of dynamic games has received considerable attention in a wide range of fields. While great effort has been made to develop new algorithms for finding Nash equilibria in dynamic games, the identification of cost functions has re…

Inverse Optimal Control for Identification in Non-Cooperative Differential Games Open

Simon Rothfuß, Jairo Inga, Florian Köpf, Michael Flad, Sören Hohmann · 2017

This paper presents research on inverse optimal control in non-cooperative differential games. An inverse optimization framework for the identification of an unknown objective function of a game's participant is introduced. The identified …

Demolition and recycling of carbon reinforced concrete Open

Peter Jehle, Jan Kortmann, Florian Köpf, Natalia Bienkowski · 2017

Carbon reinforced concrete is an artificially produced composite construction material consisting of two components: concrete and continuous carbon filaments formed as roving fabric or bars. The research project C³-V1.5 “Demolition, Disman…

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