From 486b6334f8acbf7447cb26c3bd087f4526c925ec Mon Sep 17 00:00:00 2001 From: lihanlian Date: Fri, 27 Sep 2024 17:44:35 -0400 Subject: [PATCH] update --- _pages/publications.md | 2 +- _pages/resources.md | 2 +- _posts/2024-06-30-blog-1.md | 8 ++++---- _posts/2024-07-31-blog-2.md | 16 ++++++++-------- _posts/2024-08-15-blog-3.md | 12 ++++++------ _publications/2024-09-30-pub1.md | 2 +- 6 files changed, 21 insertions(+), 21 deletions(-) diff --git a/_pages/publications.md b/_pages/publications.md index 95cf136dfb9fe..24ae9c1f45d53 100644 --- a/_pages/publications.md +++ b/_pages/publications.md @@ -6,7 +6,7 @@ author_profile: true --- {% if site.author.googlescholar %} -
All my publications are available on my Google Scholar profile.
+
All my publications are available on my Google Scholar profile.
{% endif %} {% include base_path %} diff --git a/_pages/resources.md b/_pages/resources.md index ca83c07c6da8f..9db7b559826d5 100644 --- a/_pages/resources.md +++ b/_pages/resources.md @@ -14,7 +14,7 @@ To share these execellent learning materials with others who are on a similar pa - **Robotics Simulator** [**Mujoco**](https://github.com/google-deepmind/mujoco) developed by *Google DeepMind* - - [Mujoco Bootcamp [Website]](https://pab47.github.io/mujoco.html) and corresponding tutorials that programming in both
[C++ [YouTube]](https://www.youtube.com/watch?v=j1nCeqtfySQ&list=PLc7bpbeTIk758Ad3fkSywdxHWpBh9PM0G&index=6) and [Python [YouTube]](https://www.youtube.com/watch?v=u6tNfvLXK-I&list=PLc7bpbeTIk75dgBVd07z6_uKN1KQkwFRK) by Prof. Pranav Bhounsule. + - [Mujoco Bootcamp](https://pab47.github.io/mujoco.html) and corresponding tutorials that programming in both
[C++](https://www.youtube.com/watch?v=j1nCeqtfySQ&list=PLc7bpbeTIk758Ad3fkSywdxHWpBh9PM0G&index=6) and [Python](https://www.youtube.com/watch?v=u6tNfvLXK-I&list=PLc7bpbeTIk75dgBVd07z6_uKN1KQkwFRK) by Prof. Pranav Bhounsule. [**Isaac Lab**](https://github.com/isaac-sim/IsaacLab) and [**Isaac Sim**](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html) developed by *Nvidia* - [Official Tutorial [Self-Paced Course]](https://learn.nvidia.com/courses/course-detail?course_id=course-v1:DLI+S-OV-03+V1) and [many others](https://learn.nvidia.com/en-us/training/self-paced-courses) by *Nvidia* diff --git a/_posts/2024-06-30-blog-1.md b/_posts/2024-06-30-blog-1.md index 9e66f163613f4..e1d326be513ae 100644 --- a/_posts/2024-06-30-blog-1.md +++ b/_posts/2024-06-30-blog-1.md @@ -278,10 +278,10 @@ plt.show() ## References - - [Constrained Lagrangian mechanics: understanding Lagrange multipliers [YouTube]](https://www.youtube.com/watch?v=keMzpa_iWjs) (super excellent and enlightening explanation). - - [Introduction to Lagrangian Mechanics [YouTube]](https://www.youtube.com/watch?v=8UtnDaGHpq0) (succinct and clear intro with examples). - - [Introduction to Variational Calculus - Deriving the Euler-Lagrange Equation [YouTube]](https://www.youtube.com/watch?v=VCHFCXgYdvY) (another great explanation on derivation of Euler-Lagrange Equation). - - [H.J. Sussmann and J.C. Willems, "300 years of optimal control: from the brachystochrone to the maximum principle," _IEEE Control Systems Magazine_, vol. 17, no. 3, pp. 32-44, June 1997.](https://ieeexplore.ieee.org/document/588098) + - [Constrained Lagrangian mechanics: understanding Lagrange multipliers ](https://www.youtube.com/watch?v=keMzpa_iWjs) (super excellent and enlightening explanation). + - [Introduction to Lagrangian Mechanics ](https://www.youtube.com/watch?v=8UtnDaGHpq0) (succinct and clear intro with examples). + - [Introduction to Variational Calculus - Deriving the Euler-Lagrange Equation ](https://www.youtube.com/watch?v=VCHFCXgYdvY) (another great explanation on derivation of Euler-Lagrange Equation). + - [H.J. Sussmann and J.C. Willems, "300 years of optimal control: from the brachystochrone to the maximum principle," _IEEE Control Systems Magazine_, vol. 17, no. 3, pp. 32-44, June 1997.](https://ieeexplore.ieee.org/document/588098) \ No newline at end of file diff --git a/_posts/2024-07-31-blog-2.md b/_posts/2024-07-31-blog-2.md index 00399b4aa03ef..58f94ba769a30 100644 --- a/_posts/2024-07-31-blog-2.md +++ b/_posts/2024-07-31-blog-2.md @@ -660,15 +660,15 @@ $$ u^* \neq \text{sat}(u_{\text{LQR}}) $$ - In contrast to the **Hamilton–Jacobi–Bellman equation**, which needs to hold over the entire state space to be valid, **PMP** is potentially more computationally efficient in that the conditions which it specifies only need to hold over a particular trajectory. ## References - 1. [L7.1 Pontryagin's principle of maximum (minimum) and its application to optimal control [YouTube]](https://www.youtube.com/watch?v=Bxc4iy2xUjc&list=PLMLojHoA_QPmRiPotD_TnfdUkglTexuqm&index=16&t=1s) (Explains the difference of Control Hamiltonian formulation in both Maximum and Minimum Principle) - 2. [Optimal Control (CMU 16-745) 2023 Lecture 6: Deterministic Optimal Control Intro [YouTube]](https://www.youtube.com/watch?v=U9zrNwMXktQ&list=PLZnJoM76RM6KugDT9sw5zhAmqKnGeoLRa&index=10) (Deriviation of PMP in discrete time setting, starting at 57 minutes and 15 seconds) - 3. [Karush-Kuhn-Tucker (KKT) conditions: motivation and theorem [YouTube]](https://www.youtube.com/watch?v=K3L7UYnZuZ4&list=PLHAS_3-nESXV6XgW53wSkZHazVE7ZkHAV&index=38) (Part of Intro to Optimization Course by Prof. + 1. [L7.1 Pontryagin's principle of maximum (minimum) and its application to optimal control](https://www.youtube.com/watch?v=Bxc4iy2xUjc&list=PLMLojHoA_QPmRiPotD_TnfdUkglTexuqm&index=16&t=1s) (Explains the difference of Control Hamiltonian formulation in both Maximum and Minimum Principle) + 2. [Optimal Control (CMU 16-745) 2023 Lecture 6: Deterministic Optimal Control Intro](https://www.youtube.com/watch?v=U9zrNwMXktQ&list=PLZnJoM76RM6KugDT9sw5zhAmqKnGeoLRa&index=10) (Deriviation of PMP in discrete time setting, starting at 57 minutes and 15 seconds) + 3. [Karush-Kuhn-Tucker (KKT) conditions: motivation and theorem](https://www.youtube.com/watch?v=K3L7UYnZuZ4&list=PLHAS_3-nESXV6XgW53wSkZHazVE7ZkHAV&index=38) (Part of Intro to Optimization Course by Prof. Lewis Mitchell, also contains other great explanation including lagrange multipliers, Netwon's method, etc.) - 4. [Hamiltonian Method of Optimization of Control Systems [YouTube]](https://www.youtube.com/watch?v=r-fscDKfeUs) (Clear example problem solved using Control Hamiltonian) - 5. [Why the Riccati Equation Is important for LQR Control [YouTube]](https://www.youtube.com/watch?v=ZktL3YjTbB4) (Derivation of ARE using the approach of completing the square) - 6. [Matrix Calculus [YouTube]](https://www.youtube.com/watch?v=IgAr5kzza78) (Great explanation on matrix and vector derivatives) - 7. [Geomety of the Pontryagin Maximum Principle [YouTube]](https://www.youtube.com/watch?v=V04N9X3NxYA&t=9s) (Explanation of PMP from another persepctive) - 8. D. E. Kirk, _Optimal Control Theory: An Introduction, 2004._ + 4. [Hamiltonian Method of Optimization of Control Systems ](https://www.youtube.com/watch?v=r-fscDKfeUs) (Clear example problem solved using Control Hamiltonian) + 5. [Why the Riccati Equation Is important for LQR Control](https://www.youtube.com/watch?v=ZktL3YjTbB4) (Derivation of ARE using the approach of completing the square) + 6. [Matrix Calculus](https://www.youtube.com/watch?v=IgAr5kzza78) (Great explanation on matrix and vector derivatives) + 7. [Geomety of the Pontryagin Maximum Principle ](https://www.youtube.com/watch?v=V04N9X3NxYA&t=9s) (Explanation of PMP from another persepctive) + 8. D. E. Kirk, _Optimal Control Theory: An Introduction, 2004._ ## Appendix diff --git a/_posts/2024-08-15-blog-3.md b/_posts/2024-08-15-blog-3.md index 58d60e36ce3d0..2737a9d3f5c4a 100644 --- a/_posts/2024-08-15-blog-3.md +++ b/_posts/2024-08-15-blog-3.md @@ -328,9 +328,9 @@ In this way, we now get the **ARE**. - **HJB** provides a fundation for both value iteration and policy iteration in continuous action spaces in the filed of reinforcement learning. Using the neural network to approximate the Bellman value function is the key of **Approximate Dyanmic Programming**. ### References - - [Nonlinear Control: Hamilton Jacobi Bellman (HJB) and Dynamic Programming [YouTube]](https://www.youtube.com/watch?v=-hO-AnFYm6M&list=PLMrJAkhIeNNQe1JXNvaFvURxGY4gE9k74&index=8&t=929s) (Part of excellent series on optimal control and reinforcement learning by Prof. Steve Brunton.) - - [EE 564: Lecture 26 (Optimal Control): The Hamilton Jacobi Bellman Approach [YouTube]](https://www.youtube.com/watch?v=kDtcg6U49kY&t=1s) (Great lecture that include the derivation of ARE using HJB and connection with PMP.) - - [Explaining the Principle of Least Action: Physics Mini Lesson [YouTube]](https://www.youtube.com/watch?v=sUk9y23FPHk) (Include derivation of Newton's Second Law.) - - [The principle of least action [YouTube]](https://www.youtube.com/watch?v=xz7jLnWcxMs) - - [Hamiltonian Mechanics in 10 Minutes [YouTube]](https://www.youtube.com/watch?v=B6PCntP3cek) and [Understanding Hamiltonian mechanics: (1) The math [YouTube]](https://www.youtube.com/watch?v=FGQddvjP19w&list=PLmNMSMaNjnDd9Qj4VxNL8dijiWZCAzanl) (More in-depth explanation of Hamiltonian mechanics.) - - [Action principle: geometric and physical interpretation [YouTube]](https://www.youtube.com/watch?v=7M0BzJhw4wA) \ No newline at end of file + - [Nonlinear Control: Hamilton Jacobi Bellman (HJB) and Dynamic Programming](https://www.youtube.com/watch?v=-hO-AnFYm6M&list=PLMrJAkhIeNNQe1JXNvaFvURxGY4gE9k74&index=8&t=929s) (Part of excellent series on optimal control and reinforcement learning by Prof. Steve Brunton.) + - [EE 564: Lecture 26 (Optimal Control): The Hamilton Jacobi Bellman Approach](https://www.youtube.com/watch?v=kDtcg6U49kY&t=1s) (Great lecture that include the derivation of ARE using HJB and connection with PMP.) + - [Explaining the Principle of Least Action: Physics Mini Lesson](https://www.youtube.com/watch?v=sUk9y23FPHk) (Include derivation of Newton's Second Law.) + - [The principle of least action](https://www.youtube.com/watch?v=xz7jLnWcxMs) + - [Hamiltonian Mechanics in 10 Minutes](https://www.youtube.com/watch?v=B6PCntP3cek) and [Understanding Hamiltonian mechanics: (1) The math](https://www.youtube.com/watch?v=FGQddvjP19w&list=PLmNMSMaNjnDd9Qj4VxNL8dijiWZCAzanl) (More in-depth explanation of Hamiltonian mechanics.) + - [Action principle: geometric and physical interpretation](https://www.youtube.com/watch?v=7M0BzJhw4wA) \ No newline at end of file diff --git a/_publications/2024-09-30-pub1.md b/_publications/2024-09-30-pub1.md index a67f23bdb114b..66b91083c0ac2 100644 --- a/_publications/2024-09-30-pub1.md +++ b/_publications/2024-09-30-pub1.md @@ -10,4 +10,4 @@ date: 2024-09-30 Lihan Lian, Uduak Inyang-Udoh
*American Control Conference (ACC) (In Submission)*, 2025
-[**[arXiv]**](https://arxiv.org/) \ No newline at end of file + [**[arXiv]**](https://arxiv.org/) \ No newline at end of file