Robust tube-based model predictive control with Koopman operators

Koopman operators are of infinite dimension and capture the characteristics of nonlinear dynamics in a lifted global linear manner. The finite data-driven approximation of Koopman operators results in a class of linear predictors, useful for formulating linear model predictive control (MPC) of nonlinear dynamical systems with reduced...

Barrier Function-based Safe Reinforcement Learning for Formation Control of Mobile Robots

Distributed model predictive control (DMPC) concerns how to online control multiple robotic systems with constraints effectively. However, the nonlinearity, nonconvexity, and strong interconnections of dynamic system models and constraints can make the real-time and real-world DMPC implementations nontrivial. Reinforcement learning (RL)...

Intriguing luminescence properties of (Ba, Sr)₃Si₆O₉N₄: Eu²⁺ phosphors via modifying synthesis method and cation substitution

Synthesizing pure phase Ba₃Si₆O₉N₄ by the conventional solid-state reaction method is challenging because of easily formed secondary phase Ba₃Si₆O₁₂N₂ showing similar crystal structure. In this work, an alternative low temperature synthesis method is...

Enhanced Optical Performance of BaMgAl₁₀O₁₇: Eu²⁺ Phosphor by a Novel Method of Carbon Coating

Many strategies have been adopted to improve thermal degradation of phosphors. Because of the stability and high transmittance of graphene, here we report a novel method of carbon coating on BaMgAl₁₀O₁₇:Eu²⁺ (BAM) phosphor particles through chemical vapor deposition. The chemical composition, microstructure,...