相关论文: A Highly Tunable Virtual Topology Controller

A hierarchical Model Predictive Control (MPC) formulation is presented for coupled discrete-time linear systems with state and input constraints. Compared to a centralized approach, a two-level hierarchical controller, with one controller…

Power electronic converter control is typically tuned per topology, limiting transfer across heterogeneous designs. This letter proposes a topology-agnostic meta-control framework that encodes converter netlists as typed bipartite graphs…

The paper focuses on an immersive teleoperation system that enhances operator's ability to actively perceive the robot's surroundings. A consumer-grade HTC Vive VR system was used to synchronize the operator's hand and head movements with a…

This note briefly introduces the computed torque control method for trajectory tracking. The method is applicable to fully actuated robots, i.e, those whose inverse dynamics can be solved for any feasible acceleration. This includes many…

How can the stability and efficiency of Artificial Neural Networks (ANNs) be ensured through a systematic analysis method? This paper seeks to address that query. While numerous factors can influence the learning process of ANNs, utilizing…

This paper considers the optimal control for hybrid systems whose trajectories transition between distinct subsystems when state-dependent constraints are satisfied. Though this class of systems is useful while modeling a variety of…

Behavior of neural networks is irremediably determined by the specific loss and data used during training. However it is often desirable to tune the model at inference time based on external factors such as preferences of the user or…

Inverted pendulums constitute one of the popular systems for benchmarking control algorithms. Several methods have been proposed for the control of this system, the majority of which rely on the availability of a mathematical model.…

Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…

The article outlines the methodology of structural and parametric synthesis of neural network controllers for controlling objects with limiters under incomplete information about the controlled object. Artificial neural networks are used to…

This paper presents a novel methodology to develop scheduling algorithms. The scheduling problem is phrased as a control problem, and control-theoretical techniques are used to design a scheduling algorithm that meets specific requirements.…

Deep neural networks can be trained to be efficient and effective controllers for dynamical systems; however, the mechanics of deep neural networks are complex and difficult to guarantee. This work presents a general approach for providing…

Truss robots are highly redundant parallel robotic systems that can be applied in a variety of scenarios. The variable topology truss (VTT) is a class of modular truss robots. As self-reconfigurable modular robots, a VTT is composed of many…

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…

Heading and position control system of ships has remained a challenging control problem. It is a nonlinear multiple input multiple output system. Moreover, the dynamics of the system vary with operating as well as environmental conditions.…

The topology of a network directly influences the behaviour and controllability of dynamical processes on that network. Therefore, the design of network topologies is an important area of research when examining the control of distributed…

Conventional hyperparameter optimization methods are computationally intensive and hard to generalize to scenarios that require dynamically adapting hyperparameters, such as life-long learning. Here, we propose an online hyperparameter…

In this paper we provide an optimal control based strategy to explore feasible trajectories of nonlinear systems, that is to find curves that satisfy the dynamics as well as point-wise state-input constraints. The strategy is interesting…

This paper explores the application of Machine Learning techniques for pricing high-dimensional options within the framework of the Uncertain Volatility Model (UVM). The UVM is a robust framework that accounts for the inherent…

We provide preliminary details and formulation of an optimization strategy under current development that is able to automatically tune the parameters of a Support Vector Machine over new datasets. The optimization strategy is a heuristic…