相关论文: Identification of Helicopter Dynamics based on Fli…

This work presents a novel regularization method for the identification of Nonlinear Autoregressive eXogenous (NARX) models. The regularization method promotes the exponential decay of the influence of past input samples on the current…

This work presents a novel technique that integrates the methodologies of machine learning and system identification to solve multiclass problems. Such an approach allows to extract and select sets of representative features with reduced…

This paper addresses the problem of inferring a hybrid automaton from a set of input-output traces of a hybrid system exhibiting discrete mode switching between continuously evolving dynamics. Existing approaches mainly adopt a…

UAV control system is a huge and complex system, and to design and test a UAV control system is time-cost and money-cost. This paper considered the simulation of identification of a nonlinear system dynamics using artificial neural networks…

This work addresses object identification under known dynamics in unmanned aerial vehicle applications, where learning and classification are combined through a physics-informed residual neural network. The proposed framework leverages…

This research paper delves into the field of quadrotor dynamics, which are famous by their nonlinearity, under-actuation, and multivariable nature. Due to the critical need for precise modeling and control in this context we explore the…

Accurate models are essential for design, performance prediction, control, and diagnostics in complex engineering systems. Physics-based models excel during the design phase but often become outdated during system deployment due to changing…

We consider the problem of designing a machine learning-based model of an unknown dynamical system from a finite number of (state-input)-successor state data points, such that the model obtained is also suitable for optimal control design.…

In this paper, the efficient hinging hyperplanes (EHH) neural network is proposed based on the model of hinging hyperplanes (HH). The EHH neural network is a distributed representation, the training of which involves solving several convex…

System identification uses measurements of a dynamic system's input and output to reconstruct a mathematical model for that system. These can be mechanical, electrical, physiological, among others. Since most of the systems around us…

While trade-offs between modeling effort and model accuracy remain a major concern with system identification, resorting to data-driven methods often leads to a complete disregard for physical plausibility. To address this issue, we propose…

In order to achieve a good level of autonomy in unmanned helicopters, an accurate replication of vehicle dynamics is required, which is achievable through precise mathematical modeling. This paper aims to identify a parametric state-space…

We present Neural-Swarm2, a learning-based method for motion planning and control that allows heterogeneous multirotors in a swarm to safely fly in close proximity. Such operation for drones is challenging due to complex aerodynamic…

System identification is a common tool for estimating (linear) plant models as a basis for model-based predictive control and optimization. The current challenges in process industry, however, ask for data-driven modelling techniques that…

With new advances in machine learning and in particular powerful learning libraries, we illustrate some of the new possibilities they enable in terms of nonlinear system identification. For a large class of hybrid systems, we explain how…

This paper focuses on the identification of dynamical systems with tailor-made model structures, where neural networks are used to approximate uncertain components and domain knowledge is retained, if available. These model structures are…

Traditional learning approaches proposed for controlling quadrotors or helicopters have focused on improving performance for specific trajectories by iteratively improving upon a nominal controller, for example learning from demonstrations,…

The process of transforming observed data into predictive mathematical models of the physical world has always been paramount in science and engineering. Although data is currently being collected at an ever-increasing pace, devising…

Extracting dynamic models from data is of enormous importance in understanding the properties of unknown systems. In this work, we employ Lipschitz neural networks, a class of neural networks with a prescribed upper bound on their Lipschitz…

Evolution and learning have historically been interrelated topics, and their interplay is attracting increased interest lately. The emerging new factor in this trend is morphological evolution, the evolution of physical forms within…