Related papers: A Generalized Robust Filtering Framework for Nonli…
This paper introduces new parameterizations of equilibrium neural networks, i.e. networks defined by implicit equations. This model class includes standard multilayer and residual networks as special cases. The new parameterization admits a…
The goal of this paper is to assess the robustness of an uncertain linear time-varying (LTV) system on a finite time horizon. The uncertain system is modeled as a connection of a known LTV system and a perturbation. The input/output…
State filtering is a key problem in many signal processing applications. From a series of noisy measurement, one would like to estimate the state of some dynamic system. Existing techniques usually adopt a Gaussian noise assumption which…
In this paper, we consider the problem of piecewise affine abstraction of nonlinear systems, i.e., the overapproximation of its nonlinear dynamics by a pair of piecewise affine functions that "includes" the dynamical characteristics of the…
Linear Quadratic Regulator (LQR) is often combined with feedback linearization (FBL) for nonlinear systems that have the nonlinearity additive to the input. Conventional approaches estimate and cancel the nonlinearity based on the first…
We present a novel approach for the control of uncertain, linear time-invariant systems, which are perturbed by potentially unbounded, additive disturbances. We propose a \emph{doubly robust} data-driven state-feedback controller to ensure…
Designing neural networks with bounded Lipschitz constant is a promising way to obtain certifiably robust classifiers against adversarial examples. However, the relevant progress for the important $\ell_\infty$ perturbation setting is…
Typically, it is desirable to design a control system that is not only robustly stable in the presence of parametric uncertainties but also guarantees an adequate level of system performance. However, most of the existing methods need to…
Ensuring neural network robustness is essential for the safe and reliable operation of robotic learning systems, especially in perception and decision-making tasks within real-world environments. This paper investigates the robustness of…
In this work, we study how to ensure probabilistic safety for nonlinear systems under distributional ambiguity. Our approach builds on a backup-based safety filtering framework that switches between a high-performance nominal policy and a…
M-estmators including the Welsch and Cauchy have been widely adopted for robustness against outliers, but they also down-weigh the uncontaminated data. To address this issue, we devise a framework to generate a class of nonconvex functions…
Estimation of solution norms and stability for time-dependent nonlinear systems is ubiquitous in numerous engineering, natural science and control problems. Yet, practically valuable results are rare in this area. This paper develops a…
This paper develops a data-driven safe control framework for nonlinear discrete-time systems with parametric uncertainty and additive disturbances. The proposed approach constructs a data-consistent closed-loop representation that enables…
Modern engineering systems, such as autonomous vehicles, flexible robotics, and intelligent aerospace platforms, require controllers that are robust to uncertainties, adaptive to environmental changes, and safety-aware under real-time…
High sensitivity of neural networks against malicious perturbations on inputs causes security concerns. To take a steady step towards robust classifiers, we aim to create neural network models provably defended from perturbations. Prior…
We propose an Adaptive MPC framework for uncertain linear systems to achieve robust satisfaction of state and input constraints. The uncertainty in the system is assumed additive, state dependent, and globally Lipschitz with a known…
Dynamical systems can confront one of two extreme types of disturbances: persistent zero-mean independent noise, and sparse nonzero-mean adversarial attacks, depending on the specific scenario being modeled. While mean-based estimators like…
Recurrent neural networks (RNNs) are a class of nonlinear dynamical systems often used to model sequence-to-sequence maps. RNNs have excellent expressive power but lack the stability or robustness guarantees that are necessary for many…
This paper presents a robust control synthesis and analysis framework for nonlinear systems with uncertain initial conditions. First, a deep learning-based lifting approach is proposed to approximate nonlinear dynamical systems with linear…
We develop a finite-dimensional sensitivity framework for studying stability in learning systems whose states include representations, parameters, and update variables. The central object is the \emph{Learning Stability Profile}, a…