相关论文: Deep Learning and Model Predictive Control for Sel…

Model Predictive Control (MPC) is attracting tremendous attention in the autonomous driving task as a powerful control technique. The success of an MPC controller strongly depends on an accurate internal dynamics model. However, the static…

A deep learning-based wavelength controllable forward prediction and inverse design model of nanophotonic devices is proposed. Both the target time-domain and wavelength-domain information can be utilized simultaneously, which enables…

Accurate path following is challenging for autonomous robots operating in uncertain environments. Adaptive and predictive control strategies are crucial for a nonlinear robotic system to achieve high-performance path following control. In…

Deep Learning (DL) algorithms hold great promise for applications in the field of computational biophysics. In fact, the vast amount of available molecular structures, as well as their notable complexity, constitutes an ideal context in…

Research on control using models based on machine-learning methods has now shifted to the practical engineering stage. Achieving high performance and theoretically guaranteeing the safety of the system is critical for such applications. In…

The growing need for high-performance controllers in safety-critical applications like autonomous driving has been motivating the development of formal safety verification techniques. In this paper, we design and implement a predictive…

This paper is concerned with model predictive control (MPC) of discrete-time linear systems subject to bounded additive disturbance and mixed constraints on the state and input, whereas the true disturbance set is unknown. Unlike most…

The unaffordable computation load of nonlinear model predictive control (NMPC) has prevented it for being used in robots with high sampling rates for decades. This paper is concerned with the policy learning problem for nonlinear MPC with…

Faster, cheaper, and more power efficient optimization solvers than those currently offered by general-purpose solutions are required for extending the use of model predictive control (MPC) to resource-constrained embedded platforms. We…

This paper investigates controller identification given data from a Model Predictive Controller (MPC) with constraints. We propose an approach for learning MPC that explicitly uses the gradient information in the training process. This is…

Motivated by the recent success of end-to-end training of communications in the wireless domain, we strive to adapt the end-to-end-learning idea from the wireless case (i.e., linear) to coherent optical fiber links (i.e., nonlinear).…

This paper explores some variations of a hierarchical control framework that has been recently proposed. The framework is dedicated to control a network of interconnected subsystems such as the ones describing cryogenic processes or power…

Model predictive control (MPC) provides a useful means for controlling systems with constraints, but suffers from the computational burden of repeatedly solving an optimization problem in real time. Offline (explicit) solutions for MPC…

Control of legged robots is a challenging problem that has been investigated by different approaches, such as model-based control and learning algorithms. This work proposes a novel Imitating and Finetuning Model Predictive Control (IFM)…

Shielding is a common method used to guarantee the safety of a system under a black-box controller, such as a neural network controller from deep reinforcement learning (DRL), with simpler, verified controllers. Existing shielding methods…

The aim of this work is to control the longitudinal position of an autonomous vehicle with an internal combustion engine. The powertrain has an inherent dead-time characteristic and constraints on physical states apply since the vehicle is…

In glass bottle manufacturing, precise control of forming machines is critical for ensuring quality and minimizing defects. This study presents a deep learning-based control algorithm designed to optimize the forming process in real…

This research addresses the significant challenges of energy consumption and environmental impact in laser cutting by proposing novel deep learning (DL) methodologies to achieve energy reduction. Recognizing the current lack of adaptive…

In recent years, deep neural networks (DNNs) have been found very successful for multi-label classification (MLC) of remote sensing (RS) images. Self-supervised pre-training combined with fine-tuning on a randomly selected small training…

We propose an approach to design a Model Predictive Controller (MPC) for constrained Linear Time Invariant systems performing an iterative task. The system is subject to an additive disturbance, and the goal is to learn to satisfy state and…