相关论文: Neural network feedback controller for inertial pl…

Deep neural networks give us a powerful method to model the training dataset's relationship between input and output. We can regard that as a complex adaptive system consisting of many artificial neurons that work as an adaptive memory as a…

Recurrent feedback connections in the mammalian visual system have been hypothesized to play a role in synthesizing input in the theoretical framework of analysis by synthesis. The comparison of internally synthesized representation with…

Learning-based methods could provide solutions to many of the long-standing challenges in control. However, the neural networks (NNs) commonly used in modern learning approaches present substantial challenges for analyzing the resulting…

The backpropagation algorithm has long been the canonical training method for neural networks. Modern paradigms are implicitly optimized for it, and numerous guidelines exist to ensure its proper use. Recently, synthetic gradients methods…

Dynamical systems comprised of autonomous agents arise in many relevant problems such as multi-agent robotics, smart grids, or smart cities. Controlling these systems is of paramount importance to guarantee a successful deployment. Optimal…

This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…

This paper presents an observer-integrated Reinforcement Learning (RL) approach, called Disturbance OBserver Network (DOB-Net), for robots operating in environments where disturbances are unknown and time-varying, and may frequently exceed…

This paper deals with the tracking control problem for a very simple class of unknown nonlinear systems. In this paper, we presents a design strategy for tracking control of time-varying state constrained nonlinear systems in an adaptive…

Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…

We introduce an adaptation algorithm by which an ensemble of coupled oscillators with attractive and repulsive interactions is induced to adopt a prescribed synchronized state. While the performance of adaptation is controlled by measuring…

In recent years, deep learning has been connected with optimal control as a way to define a notion of a continuous underlying learning problem. In this view, neural networks can be interpreted as a discretization of a parametric Ordinary…

This paper proposes a unifying design framework for dynamic feedback controllers that track solution trajectories of time-varying generalized equations, such as local minimizers of nonlinear programs or competitive equilibria (e.g., Nash)…

Stability certification and identifying a safe and stabilizing initial set are two important concerns in ensuring operational safety, stability, and robustness of dynamical systems. With the advent of machine-learning tools, these issues…

Neural networks currently dominate the machine learning community and they do so for good reasons. Their accuracy on complex tasks such as image classification is unrivaled at the moment and with recent improvements they are reasonably easy…

We present an algorithm for rapidly learning controllers for robotics systems. The algorithm follows the model-based reinforcement learning paradigm, and improves upon existing algorithms; namely Probabilistic learning in Control (PILCO)…

This paper considers a class of bilinear systems with a neural network in the loop. These arise naturally when employing machine learning techniques to approximate general, non-affine in the input, control systems. We propose a controller…

Several methods have been proposed to explain Deep Neural Network (DNN). However, to our knowledge, only classification networks have been studied to try to determine which input dimensions motivated the decision. Furthermore, as there is…

We develop a general theory of synaptic neural balance and how it can emerge or be enforced in neural networks. For a given regularizer, a neuron is said to be in balance if the total cost of its input weights is equal to the total cost of…

Retentive Network (RetNet) represents a significant advancement in neural network architecture, offering an efficient alternative to the Transformer. While Transformers rely on self-attention to model dependencies, they suffer from high…

This work introduces a wavelet neural network to learn a filter-bank specialized to fit non-stationary signals and improve interpretability and performance for digital signal processing. The network uses a wavelet transform as the first…