相关论文: Deep Model Reference Adaptive Control

Model Predictive Control (MPC) is a method to control nonlinear systems with guaranteed stability and constraint satisfaction but suffers from high computation times. Approximate MPC (AMPC) with neural networks (NNs) has emerged to address…

Complex mechanical systems such as vehicle powertrains are inherently subject to multiple nonlinearities and uncertainties arising from parametric variations. Modeling errors are therefore unavoidable, making the transfer of control systems…

The goal of model reference adaptive control (MRAC) is to ensure that the trajectories of an unknown dynamical system track those of a given reference model. This is done by means of a feedback controller that adaptively changes its gains…

Model Predictive Control (MPC) has become a popular framework in embedded control for high-performance autonomous systems. However, to achieve good control performance using MPC, an accurate dynamics model is key. To maintain real-time…

State and input constraints are ubiquitous in all engineering systems. In this article, we derive adaptive controllers for uncertain linear systems under pre-specified state and input constraints. Several modifications of the model…

Deep neural networks (DNNs) can enable precise control while maintaining low computational costs by circumventing the need for dynamic modeling. However, the deployment of such black-box approaches remains challenging for heavy-duty wheeled…

This paper proposes a deep cerebellar model articulation controller (DCMAC) for adaptive noise cancellation (ANC). We expand upon the conventional CMAC by stacking sin-gle-layer CMAC models into multiple layers to form a DCMAC model and…

We present differentiable predictive control (DPC), a method for learning constrained neural control policies for linear systems with probabilistic performance guarantees. We employ automatic differentiation to obtain direct policy…

It is typically proven in adaptive control that asymptotic stabilization and tracking holds, and that at best a bounded-noise bounded-state property is proven. Recently, it has been shown in both the pole-placement control and the $d$-step…

Convergence of controller parameters in standard model reference adaptive control (MRAC) requires the system states to be persistently exciting (PE), a restrictive condition to be verified online. A recent data-driven approach, concurrent…

This letter proposes a deep neural network (DNN)-based neuro-adaptive sliding mode control (SMC) strategy for leader-follower tracking in multi-agent systems with higher-order, heterogeneous, nonlinear, and unknown dynamics under external…

In this paper, we present a deep neural network based adaptive learning (DNN-AL) approach for switched systems. Currently, deep neural network based methods are actively developed for learning governing equations in unknown dynamic systems,…

Learning-based model predictive control (MPC) is an approach designed to reduce the computational cost of MPC. In this paper, a constrained deep neural network (DNN) design is proposed to learn MPC policy for nonlinear systems. Using…

Reinforcement learning (RL) algorithms have been successfully used to develop control policies for dynamical systems. For many such systems, these policies are trained in a simulated environment. Due to discrepancies between the simulated…

We present an online multi-task learning approach for adaptive nonlinear control, which we call Online Meta-Adaptive Control (OMAC). The goal is to control a nonlinear system subject to adversarial disturbance and unknown…

While improvements in deep learning architectures have played a crucial role in improving the state of supervised and unsupervised learning in computer vision and natural language processing, neural network architecture choices for…

We propose a model reference adaptive controller (MRAC) for uncertain linear time-invariant (LTI) plants with user-defined state and input constraints in the presence of unmatched bounded disturbances. Unlike popular optimization-based…

This paper presents a deep learning based model predictive control algorithm for control affine nonlinear discrete time systems with matched and bounded state-dependent uncertainties of unknown structure. Since the structure of…

The control of nonlinear systems with unknown dynamics has been a significant field of research for many years. This paper presents a novel data-driven optimal adaptive control structure with less control effort and faster adaptation than…

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…