相关论文: Advanced control based on Recurrent Neural Network…

Virtual Reference Feedback Tuning (VRFT) is a well known and very successful data-driven control design method. It has been initially conceived for linear plants and this original formulation has been much explored in the literature,…

One-shot direct model-reference control design techniques, like the Virtual Reference Feedback Tuning (VRFT) approach, offer time-saving solutions for the calibration of fixed-structure controllers for dynamic systems. Nonetheless, such…

We study online fine-tuning of pretrained control policies for autonomous driving using Real-Time Recurrent Reinforcement Learning (RTRRL), a memory-efficient algorithm that updates policy parameters at every time step without…

The simplified modeling of a complex system allied with a low-order controller structure can lead to poor closed-loop performance and robustness. A feasible solution is to avoid the necessity of a model by using data for the controller…

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…

In this paper, we study the use of robust model independent bounded extremum seeking (ES) feedback control to improve the robustness of deep reinforcement learning (DRL) controllers for a class of nonlinear time-varying systems. DRL has the…

This paper aims to discuss and analyze the potentialities of Recurrent Neural Networks (RNN) in control design applications. The main families of RNN are considered, namely Neural Nonlinear AutoRegressive eXogenous, (NNARX), Echo State…

Owing to their superior modeling capabilities, gated Recurrent Neural Networks, such as Gated Recurrent Units (GRUs) and Long Short-Term Memory networks (LSTMs), have become popular tools for learning dynamical systems. This paper aims to…

Controlling a non-statically stable biped is a difficult problem largely due to the complex hybrid dynamics involved. Recent work has demonstrated the effectiveness of reinforcement learning (RL) for simulation-based training of neural…

This paper develops a control scheme, based on the use of Long Short-Term Memory neural network models and Nonlinear Model Predictive Control, which guarantees recursive feasibility with slow time variant set-points and disturbances, input…

This paper addresses the offset-free tracking problem for nonlinear systems described by a class of recurrent neural networks (RNNs). To compensate for constant disturbances and guarantee offset-free tracking in the presence of model-plant…

This paper proposes a method for lifelong learning of Recurrent Neural Networks, such as NNARX, ESN, LSTM, and GRU, to be used as plant models in control system synthesis. The problem is significant because in many practical applications it…

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…

Data-driven approaches to automated machine condition monitoring are gaining popularity due to advancements made in sensing technologies and computing algorithms. This paper proposes the use of a deep learning model, based on Long…

We present a novel approach to modern car control utilizing a combination of Deep Convolutional Neural Networks and Long Short-Term Memory Systems: Both of which are a subsection of Hierarchical Representations Learning, more commonly known…

Artificial neural networks are a promising technique for virtual analog modeling, having shown particular success in emulating distortion circuits. Despite their potential, enhancements are needed to enable effect parameters to influence…

In this paper we propose a novel methodology that allows to design, in a purely data-based fashion and for linear single-input and single-output systems, both robustly stable and performing control systems for tracking piecewise constant…

This paper presents a neural network (NN) based adaptive feedback regulator to ensure the lateral and longitudinal stability and regulate the desired walking velocity of a lower-limb exoskeleton under model uncertainty. The traditional…

In recent times, a variety of Reinforcement Learning (RL) algorithms have been proposed for optimal tracking problem of continuous time nonlinear systems with input constraints. Most of these algorithms are based on the notion of uniform…

This paper proposes an adaptive neural network-based backstepping controller that uses rigid graph theory to address the distance-based formation control problem and target tracking for nonlinear multi-agent systems with bounded time-delay…