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

Accurate velocity estimation is key to vehicle control. While the literature describes how model-based and learning-based observers are able to estimate a vehicle's velocity in normal driving conditions, the challenge remains to estimate…

There is an emerging trend in applying deep learning methods to control complex nonlinear systems. This paper considers enhancing the runtime safety of nonlinear systems controlled by neural networks in the presence of disturbance and…

Recurrent neural networks are used in virtual analog modeling applications to digitally replicate the sound of analog hardware audio processors. The controls of hardware devices can be used as a conditioning input to these networks. A…

There is a growing interest in the speech community in developing Recurrent Neural Network Transducer (RNN-T) models for automatic speech recognition (ASR) applications. RNN-T is trained with a loss function that does not enforce temporal…

Optimal tracking of continuous time nonlinear systems has been extensively studied in literature. However, in several applications, absence of knowledge about system dynamics poses a severe challenge to solving the optimal tracking problem.…

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…

Recent research shows that supervised learning can be an effective tool for designing near-optimal feedback controllers for high-dimensional nonlinear dynamic systems. But the behavior of neural network controllers is still not well…

End-to-end learning models using raw waveforms as input have shown superior performances in many audio recognition tasks. However, most model architectures are based on convolutional neural networks (CNN) which were mainly developed for…

This paper describes experimental results regarding the real time implementation of continuous time recurrent neural networks (CTRNN) and the dynamic back-propagation through time (BPTT) algorithm for the on-line learning control laws.…

Recurrent neural networks (RNNs) have recently demonstrated strong performance and faster inference than Transformers at comparable parameter budgets. However, the recursive gradient computation with the backpropagation through time (or…

In this study, we propose a novel adaptive control architecture, which provides dramatically better transient response performance compared to conventional adaptive control methods. What makes this architecture unique is the synergistic…

In this paper, we introduce a novel architecture to connecting adaptive learning and neural networks into an arbitrary machine's control system paradigm. Two consecutive Recurrent Neural Networks (RNNs) are used together to accurately model…

Deep reinforcement learning (DRL) is a machine learning-based method suited for complex and high-dimensional control problems. In this study, a real-time control system based on DRL is developed for long-term voltage stability events. The…

This paper presents the implementation of a Recurrent Neural Network (RNN) based-controller for the stabilization of the flight transition maneuver (hover-cruise and vice versa) of a tail-sitter UAV. The control strategy is based on…

Soft robots pose difficulties in terms of control, requiring novel strategies to effectively manipulate their compliant structures. Model-based approaches face challenges due to the high dimensionality and nonlinearities such as hysteresis…

Today, human operators primarily perform voltage control of the electric transmission system. As the complexity of the grid increases, so does its operation, suggesting additional automation could be beneficial. A subset of machine learning…

We study active object tracking, where a tracker takes visual observations (i.e., frame sequences) as input and produces the corresponding camera control signals as output (e.g., move forward, turn left, etc.). Conventional methods tackle…

Recent research has shown that supervised learning can be an effective tool for designing optimal feedback controllers for high-dimensional nonlinear dynamic systems. But the behavior of these neural network (NN) controllers is still not…

This paper deals with the tracking control problem for a class of unknown pure feedback system with pure state constraints on the state variables and unknown time-varying bounded disturbances. An adaptive controller is presented for such…

Control design for general nonlinear robotic systems with guaranteed stability and/or safety in the presence of model uncertainties is a challenging problem. Recent efforts attempt to learn a controller and a certificate (e.g., a Lyapunov…