相关论文: Deep Model Reference Adaptive Control

Deadbeat Robust Model Predictive Control (DRMPC) is introduced as a new approach of Robust Model Predictive Control (RMPC) for linear systems with additive disturbances. Its main idea is to completely extinguish the effect of the…

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 paper introduces the Deep Learning-based Nonlinear Model Predictive Controller with Scene Dynamics (DL-NMPC-SD) method for autonomous navigation. DL-NMPC-SD uses an a-priori nominal vehicle model in combination with a scene dynamics…

Dynamic neural network is an emerging research topic in deep learning. Compared to static models which have fixed computational graphs and parameters at the inference stage, dynamic networks can adapt their structures or parameters to…

In this work, we consider the adaptive nonlinear control problem for strict feedback nonlinear systems, where the functions that determine the dynamics of the system are completely unknown. We assume that certain upper bounds for the…

In communication systems, there are many tasks, like modulation recognition, which rely on Deep Neural Networks (DNNs) models. However, these models have been shown to be susceptible to adversarial perturbations, namely imperceptible…

This correspondence proposes a kind of model-free adaptive control (MFAC) on the basis of full-form equivalent-dynamic-linearization model (EDLM) for the multivariable nonlinear system. Compared with the current MFAC, i) this control law…

Deep learning models are often not easily adaptable to new tasks and require task-specific adjustments. The differentiable neural computer (DNC), a memory-augmented neural network, is designed as a general problem solver which can be used…

When adopting a deep learning model for embodied agents, it is required that the model structure be optimized for specific tasks and operational conditions. Such optimization can be static such as model compression or dynamic such as…

This paper presents a novel model-reference reinforcement learning control method for uncertain autonomous surface vehicles. The proposed control combines a conventional control method with deep reinforcement learning. With the conventional…

Model predictive control (MPC) is a powerful technique for solving dynamic control tasks. In this paper, we show that there exists a close connection between MPC and online learning, an abstract theoretical framework for analyzing online…

How can a robot safely navigate around people with complex motion patterns? Deep Reinforcement Learning (DRL) in simulation holds some promise, but much prior work relies on simulators that fail to capture the nuances of real human motion.…

In this paper, we propose a novel unsupervised domain adaptation algorithm based on deep learning for visual object recognition. Specifically, we design a new model called Deep Reconstruction-Classification Network (DRCN), which jointly…

We develop a novel data-driven robust model predictive control (DDRMPC) approach for automatic control of irrigation systems. The fundamental idea is to integrate both mechanistic models, which describe dynamics in soil moisture variations,…

Traditional motion planning methods for robots with many degrees-of-freedom, such as mobile manipulators, are often computationally prohibitive for real-world settings. In this paper, we propose a novel multi-model motion planning pipeline,…

As learning-based methods make their way from perception systems to planning/control stacks, robot control systems have started to enjoy the benefits that data-driven methods provide. Because control systems directly affect the motion of…

We propose a robust adaptive online synchronization method for leader-follower networks of nonlinear heterogeneous agents with system uncertainties and input magnitude saturation. Synchronization is achieved using a Distributed input…

Deep neural networks and decision trees operate on largely separate paradigms; typically, the former performs representation learning with pre-specified architectures, while the latter is characterised by learning hierarchies over…

The use of deep neural network (DNN) models as surrogates for linear and nonlinear structural dynamical systems is explored. The goal is to develop DNN based surrogates to predict structural response, i.e., displacements and accelerations,…

This paper introduces deep neural networks (DNNs) as add-on blocks to baseline feedback control systems to enhance tracking performance of arbitrary desired trajectories. The DNNs are trained to adapt the reference signals to the feedback…