相关论文: Dynamical System Inspired Adaptive Time Stepping C…

This paper studies the design of feedback controllers to steer a switching linear time-invariant dynamical system towards the solution trajectory of a time-varying convex optimization problem. We propose two types of controllers: (i) a…

In this paper, the tracking control problem of a class of uncertain Euler-Lagrange systems subjected to unknown input delay and bounded disturbances is addressed. To this front, a novel delay dependent control law, referred as Adaptive…

This work presents a solution to the adaptive tracking control of Euler Lagrange systems with guaranteed tracking and parameter estimation error convergence. Specifically a concurrent learning based update rule fused by the filtered version…

This paper is devoted to the development of adaptive control schemes for uncertain discrete-time systems, which guarantee robust, global, exponential convergence to the desired equilibrium point of the system. The proposed control scheme…

Dynamic DNN optimization techniques such as layer-skipping offer increased adaptability and efficiency gains but can lead to i) a larger memory footprint as in decision gates, ii) increased training complexity (e.g., with non-differentiable…

While deep neural networks can attain good accuracy on in-distribution test points, many applications require robustness even in the face of unexpected perturbations in the input, changes in the domain, or other sources of distribution…

This study presents a novel fault diagnosis model for urban rail transit systems based on Wavelet Transform Residual Neural Network (WT-ResNet). The model integrates the advantages of wavelet transform for feature extraction and ResNet for…

We generalize the idea of relaxation time stepping methods in order to preserve multiple nonlinear conserved quantities of a dynamical system by projecting along directions defined by multiple time stepping algorithms. Similar to the…

In this paper, we develop a general framework for constructing higher-order, unconditionally energy-stable exponential time differencing Runge-Kutta methods applicable to a range of gradient flows. Specifically, we identify conditions…

Non-linear dynamical systems represent a compact, flexible, and robust tool for reactive motion generation. The effectiveness of dynamical systems relies on their ability to accurately represent stable motions. Several approaches have been…

Learning a task induces connectivity changes in neural circuits, thereby changing their dynamics. To elucidate task related neural dynamics we study trained Recurrent Neural Networks. We develop a Mean Field Theory for Reservoir Computing…

Continuous-time adaptive controllers for systems with a matched uncertainty often comprise an online parameter estimator and a corresponding parameterized controller to cancel the uncertainty. However, such methods are often impossible to…

With the rapid development of deep learning, a growing number of pre-trained models have been publicly available. However, deploying these fixed models in real-world IoT applications is challenging because different devices possess…

The present paper develops a reduced-order model capable of modeling unsteady aerodynamic loads in the transonic regime using system identification techniques. The computational fluid dynamics (CFD) calculations are based on the Euler…

In this article, we propose a very efficient technique to enhance the dynamical robustness for a network of mean-field coupled oscillators experiencing aging transition. In particular, we present a control mechanism based on delayed…

A fourth-order exponential time differencing (ETD) Runge-Kutta scheme with dimensional splitting is developed to solve multidimensional non-linear systems of reaction-diffusion equations (RDE). By approximating the matrix exponential in the…

We consider the problem of online control of systems with time-varying linear dynamics. This is a general formulation that is motivated by the use of local linearization in control of nonlinear dynamical systems. To state meaningful…

Robotic systems operating in real-world environments inevitably encounter unobserved dynamics shifts during continuous execution, including changes in actuation, mass distribution, or contact conditions. When such shifts occur mid-episode,…

Existing motion planning methods often struggle with rapid-motion obstacles due to an insufficient understanding of environmental changes. To address this, we propose integrating motion planners with Doppler LiDARs, which provide not only…

Recent developments in applying machine learning to address Alternating Current Optimal Power Flow (AC OPF) problems have demonstrated significant potential in providing close to optimal solutions for generator dispatch in near real-time.…