Related papers: Memory Augmented Neural Network Adaptive Controlle…

This article studies the control ideas of the optimal backstepping technique, proposing an event-triggered optimal tracking control scheme for a class of strict-feedback nonlinear systems with non-affine and nonlinear faults. A simplified…

Augmenting a neural network with memory that can grow without growing the number of trained parameters is a recent powerful concept with many exciting applications. We propose a design of memory augmented neural networks (MANNs) called…

Memory is fundamental to intelligence, enabling learning, reasoning, and adaptability across biological and artificial systems. While Transformer architectures excel at sequence modeling, they face critical limitations in long-range context…

Model-based reinforcement learning is an effective approach for controlling an unknown system. It is based on a longstanding pipeline familiar to the control community in which one performs experiments on the environment to collect a…

This paper proposes a finitely terminating algorithm to solve reach-and-stay control problems for nonlinear systems. The algorithm is guaranteed to return a control strategy if the specification is robustly realizable. Such a feature is…

We introduce Learning-Augmented Control (LAC), an approach that integrates untrusted machine learning predictions into the control of constrained, nonlinear dynamical systems. LAC is designed to achieve the "best-of-both-worlds" guarantees,…

This paper is devoted to the development of adaptive control schemes for uncertain discrete-time systems, which guarantee robust, global, exponential convergence to the desired equilibrium point of the system. The proposed control scheme…

A ship steering control is designed for a nonlinear maneuvering model whose rudder manipulation is constrained in both magnitude and rate. In our method, the tracking problem of the target heading angle with input constraints is converted…

This paper considers the problem of controlling a dynamical system when the state cannot be directly measured and the control performance metrics are unknown or partially known. In particular, we focus on the design of data-driven…

The stable combination of optimal feedback policies with online learning is studied in a new control-theoretic framework for uncertain nonlinear systems. The framework can be systematically used in transfer learning and sim-to-real…

We develop data-driven reinforcement learning (RL) control designs for input-affine nonlinear systems. We use Carleman linearization to express the state-space representation of the nonlinear dynamical model in the Carleman space, and…

Despite recent breakthroughs in the applications of deep neural networks, one setting that presents a persistent challenge is that of "one-shot learning." Traditional gradient-based networks require a lot of data to learn, often through…

Nonlinear model predictive control (MPC) is a flexible and increasingly popular framework used to synthesize feedback control strategies that can satisfy both state and control input constraints. In this framework, an optimization problem,…

Unknown nonlinear dynamics can limit the performance of model-based feedforward control. The aim of this paper is to develop a feedforward control framework for systems with unknown, typically nonlinear, dynamics. To address the unknown…

This paper develops adaptive output tracking control schemes with the reference output signal generated from an unknown reference system whose output derivatives are also unknown. To deal with such reference system uncertainties, an…

Objective. Precise control of neural systems is essential to experimental investigations of how the brain controls behavior and holds the potential for therapeutic manipulations to correct aberrant network states. Model predictive control,…

In this paper the application of Virtual Reference Feedback Tuning (VRFT) for control of nonlinear systems with regulators defined by Echo State Networks (ESN) and Long Short Term Memory (LSTM) networks is investigated. The capability of…

We study in this paper the problem of adaptive trajectory tracking for nonlinear systems affine in the control with bounded state-dependent and time-dependent uncertainties. We propose to use a modular approach, in the sense that we first…

This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…

This work concerns the control of unknown nonlinear systems corrupted by disturbances. For such systems, we propose an anti-disturbance dual control approach with active learning of the disturbances. Our approach holds the dual property of…