AA 203: Optimal and Learning-Based Control

Course Description

Optimal control solution techniques for systems with known and unknown dynamics. Dynamic programming, Hamilton-Jacobi reachability, and direct and indirect methods for trajectory optimization. Introduction to model predictive control. Adaptive control, model-based and model-free reinforcement learning, and connections between modern reinforcement learning and fundamental optimal control ideas.

Instructors

Marco Pavone	Daniele Gammelli

Course Assistants

Hugo Buurmeijer	Ellie Brosius	Pranit Mohnot

Meeting Times

Lectures are held on Mondays and Wednesdays from 1:30pm to 2:50pm in Skilling Auditorium.

Lecture recordings will be available on Canvas.

Recitations are held on Fridays from 1:30 pm to 2:30 pm for the first four weeks of the quarter. Recitations are hybrid sessions, held both in Durand 251 and on Zoom (link on Canvas). Each recitation will be recorded and available offline on Canvas.

Note: The first recitation (Friday, April 3rd) will be Zoom only and will have no in-person option.

Office Hours

Office hours will begin in the second week of the quarter

Marco Pavone's office hours are on Tuesdays 1:00pm to 2:00pm in Durand 261 and by appointment.

Daniele Gammelli's office hours are on Wednesdays 3:00pm to 4:00 pm in Durand 251.

Hugo Buurmeijer's office hours are on Thursdays 1:00pm to 2:00 pm in Durand 251.

Ellie Brosius's & Pranit Mohnot's office hours are Wednesdays 10:00am to 11:00am in Durand 251.

Syllabus

The class syllabus can be found here.

Schedule

Subject to change.