Related papers: Learning Reduced-Order Linear Parameter-Varying Mo…
In many practical control applications, the performance level of a closed-loop system degrades over time due to the change of plant characteristics. Thus, there is a strong need for redesigning a controller without going through the system…
The Linear Parameter Varying Dynamical System (LPV-DS) is an effective approach that learns stable, time-invariant motion policies using statistical modeling and semi-definite optimization to encode complex motions for reactive robot…
This paper presents a method of data-driven parametric Dynamic Mode Decomposition (p-DMD) to derive a linear parameter-varying reduced-order model (LPV-ROM) for the nonlinear aeroelasticity of highly flexible aircraft. It directly uses the…
Reduced order models (ROMs) play a critical role in fluid mechanics by providing low-cost predictions, making them an attractive tool for engineering applications. However, for ROMs to be widely applicable, they must not only generalise…
In this paper, we present a deep learning-based reduced-order model (DL-ROM) for the stability prediction of unsteady 3D fluid-structure interaction systems. The proposed DL-ROM has the format of a nonlinear state-space model and employs a…
This work presents a non-intrusive model reduction method to learn low-dimensional models of dynamical systems with non-polynomial nonlinear terms that are spatially local and that are given in analytic form. In contrast to state-of-the-art…
In this paper, we propose a probabilistic reduced-dimensional vector autoregressive (PredVAR) model with oblique projections. This model partitions the measurement space into a dynamic subspace and a static subspace that do not need to be…
In partially observable (PO) environments, deep reinforcement learning (RL) agents often suffer from unsatisfactory performance, since two problems need to be tackled together: how to extract information from the raw observations to solve…
Visual model-based RL methods typically encode image observations into low-dimensional representations in a manner that does not eliminate redundant information. This leaves them susceptible to spurious variations -- changes in…
In system identification, estimating parameters of a model using limited observations results in poor identifiability. To cope with this issue, we propose a new method to simultaneously select and estimate sensitive parameters as key model…
Linear reduced-order modeling (ROM) is widely used for efficient simulation of deformation dynamics, but its accuracy is often limited by the fixed linearization of the reduced mapping. We propose a new adaptive strategy for linear ROM that…
The identification of a nonlinear dynamic model is an open topic in control theory, especially from sparse input-output measurements. A fundamental challenge of this problem is that very few to zero prior knowledge is available on both the…
The Linear Parameter-Varying (LPV) framework has been introduced with the intention to provide stability and performance guarantees for analysis and controller synthesis for Nonlinear (NL) systems via convex methods. By extending results of…
In this work, we study the problem of learning partially observed linear dynamical systems from a single sample trajectory. A major practical challenge in the existing system identification methods is the undesirable dependency of their…
A common pipeline in learning-based control is to iteratively estimate a model of system dynamics, and apply a trajectory optimization algorithm - e.g.~$\mathtt{iLQR}$ - on the learned model to minimize a target cost. This paper conducts a…
Consider an unknown nonlinear dynamical system that is known to be dissipative. The objective of this paper is to learn a neural dynamical model that approximates this system, while preserving the dissipativity property in the model. In…
Distributionally robust offline reinforcement learning (RL) aims to find a policy that performs the best under the worst environment within an uncertainty set using an offline dataset collected from a nominal model. While recent advances in…
In this paper an adaptive state observer and parameter identification algorithm for a linear time-varying system are developed under condition that the state matrix of the system contains unknown time-varying parameters of a known form. The…
This paper introduces the concept of parameter-dependent (PD) control Lyapunov functions (CLFs) for gain-scheduled stabilization of nonlinear parameter-varying (NPV) systems. It shows that given a PD-CLF, a min-norm control law can be…
Machine-learning techniques are evolving into a subsidiary tool for studying phase transitions in many-body systems. However, most studies are tied to situations involving only one phase transition and one order parameter. Systems that…