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Linear Quadratic Regulator

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Error-State LQR Formulation for Quadrotor UAV Trajectory Tracking

arXiv:2501.15768v2 Announce Type: replace Abstract: This article presents an error-state Linear Quadratic Regulator (LQR) formulation for robust trajectory tracking in quadrotor Unmanned Aerial Vehicles (UAVs). The proposed approach leverages error-state dynamics and employs exponential coordinates to represent orientation errors, enabling a linearized system representation for real-time control. The control strategy integrates an LQR-based full-state feedback controller for trajectory...

arXiv CS 2d ago

Optimal Finite-Horizon LQR Control for Traffic Flow via Variable Speed Limits

Announce Type: replace-cross Abstract: This article presents a finite-horizon linear quadratic regulator for the control of the first-order Lighthill-Whitham-Richards traffic model with a triangular fundamental diagram. The in-domain control action is realized through variable speed limits implemented as a source term in the governing hyperbolic partial differential equation. Unlike prior studies on infinite-horizon formulations, this article develops a finite-horizon LQR framework, deriving...

arXiv CS 1d ago

Optimal Finite-Horizon LQR Control for Traffic Flow via Variable Speed Limits

arXiv:2606.03632v1 Announce Type: cross Abstract: This article presents a finite-horizon linear quadratic regulator for the control of the first-order Lighthill-Whitham-Richards traffic model with a triangular fundamental diagram. The in-domain control action is realized through variable speed limits implemented as a source term in the governing hyperbolic partial differential equation.

arXiv CS 7d ago

A Continuification Approach to CAV Control in Mixed Traffic via Variable Speed Limits

arXiv:2606.09534v1 Announce Type: new Abstract: This paper presents a method for controlling traffic via the use of connected and automated vehicles (CAVs) acting as moving bottlenecks. Current methods for moving bottleneck control use a couple PDE-ODE model, based on the Lighthill-Whitham-Richard (LWR) model, to represent the influence of the CAV. Control of the CAV is normally achieved by designing the control on the ODE which models the speed of the moving bottleneck.

arXiv CS 1d ago

Adaptive Model Predictive Control of Nonlinear Generic Urban Air Mobility Using Linear Parameter-Varying Systems

arXiv:2606.08836v1 Announce Type: new Abstract: This paper presents an adaptive model predictive control (MPC) framework for nonlinear urban air mobility (UAM) vehicles operating across the full flight envelope. The proposed approach leverages a linear parameter-varying (LPV) representation to update the predictive model online, enabling accurate capture of strongly nonlinear and time-varying dynamics associated with distributed electric propulsion (DEP) eVTOL aircraft. To systematically...

arXiv CS 1d ago

Activation Steering of Video Generation Models via Reduced-Order Linear Optimal Control

Announce Type: new Abstract: Text-to-video (T2V) models trained on large-scale web data can generate undesired content, motivating interventions that reduce harmful outputs without sacrificing visual quality. Activation steering offers an attractive mechanistic alternative to finetuning and prompt filtering, but existing T2V steering methods remain limited, typically applying coarse, non-anticipative interventions that can lead to oversteering and content degradation. To close this gap, we...

arXiv CS 6d ago

Model-free LQG Control with Chance Constraints

arXiv:2605.31310v1 Announce Type: new Abstract: This paper studies model-free optimal control design and its convergence properties for linear time-invariant systems subject to probabilistic risk or chance constraints. In particular, we study a natural policy gradient (NPG)-based actor-critic (AC) algorithm with two timescales, using a Lagrangian primal-dual framework to enforce the constraint.

arXiv CS 9d ago

SIRT7 regulates dosage compensation and safeguards the female X chromosome

Abstract Sirtuins are deacetylases implicated in stress responses and longevity in mammals1,2. Although their differential impact on disease for the two sexes has been noted3,4,5,6,7, the underlying reasons are unclear. Here, using Sirt7 as a model in mice, we examine the mechanisms leading to sex differences and find that Sirt7−/− female mice have decreased fitness throughout their lifespan.

Nature 1d ago