相关论文: Imitation Learning with Stability and Safety Guara…

In this paper, we propose a novel nonlinear observer based on neural networks, called neural observer, for observation tasks of linear time-invariant (LTI) systems and uncertain nonlinear systems. In particular, the neural observer designed…

We propose a neural control method to provide guaranteed stabilization for mechanical systems using a novel negative imaginary neural ordinary differential equation (NINODE) controller. Specifically, we employ neural networks with desired…

In this paper, we present a method to analyze local and global stability in offset-free setpoint tracking using neural network controllers and we provide ellipsoidal inner approximations of the corresponding region of attraction. We…

Guaranteeing constraint satisfaction is challenging in imitation learning (IL), particularly in tasks that require operating near a system's handling limits. Traditional IL methods, such as Behavior Cloning (BC), often struggle to enforce…

Imitation learning (IL) is a popular paradigm for training policies in robotic systems when specifying the reward function is difficult. However, despite the success of IL algorithms, they impose the somewhat unrealistic requirement that…

Reinforcement learning (RL) is promising for complicated stochastic nonlinear control problems. Without using a mathematical model, an optimal controller can be learned from data evaluated by certain performance criteria through…

We consider the design of fast and reliable neural network (NN)-based approximations of traditional stabilizing controllers for linear systems with polytopic uncertainty, including control laws with variable structure and those based on a…

Neural networks have become increasingly popular in controller design due to their versatility and efficiency. However, their integration into feedback systems can pose stability challenges, particularly in the presence of uncertainties.…

Output reference tracking can be improved by iteratively learning from past data to inform the design of feedforward control inputs for subsequent tracking attempts. This process is called iterative learning control (ILC). This article…

Learning controllers merely based on a performance metric has been proven effective in many physical and non-physical tasks in both control theory and reinforcement learning. However, in practice, the controller must guarantee some notion…

This paper addresses the problem of Neural Network (NN) based adaptive stability certification in a dynamical system. The state-of-the-art methods, such as Neural Lyapunov Functions (NLFs), use NN-based formulations to assess the stability…

As more inverter-connected renewable resources are integrated into the grid, frequency stability may degrade because of the reduction in mechanical inertia and damping. A common approach to mitigate this degradation in performance is to use…

This paper proposes a Recurrent Neural Network (RNN) controller for lane-keeping systems, effectively handling model uncertainties and disturbances. First, quadratic constraints cover the nonlinearities brought by the RNN controller, and…

Learning-based neural network (NN) control policies have shown impressive empirical performance. However, obtaining stability guarantees and estimates of the region of attraction of these learned neural controllers is challenging due to the…

This article presents novel methods for synthesizing distributionally robust stabilizing neural controllers and certificates for control systems under model uncertainty. A key challenge in designing controllers with stability guarantees for…

Imitation Learning (IL) has proven highly effective for robotic and control tasks where manually designing reward functions or explicit controllers is infeasible. However, standard IL methods implicitly assume that the environment dynamics…

Imitation Learning (IL), also referred to as Learning from Demonstration (LfD), holds significant promise for capturing expert motor skills through efficient imitation, facilitating adept navigation of complex scenarios. A persistent…

Learning algorithms have shown considerable prowess in simulation by allowing robots to adapt to uncertain environments and improve their performance. However, such algorithms are rarely used in practice on safety-critical systems, since…

This paper aims to investigate direct imitation learning from human drivers for the task of lane keeping assistance in highway and country roads using grayscale images from a single front view camera. The employed method utilizes…

This paper presents a framework for bounding the approximation error in imitation model predictive controllers utilizing neural networks. Leveraging the Lipschitz properties of these neural networks, we derive a bound that guides dataset…