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

This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. The strategy includes kinematic steering and velocity dynamics learning…

Emergency control, typically such as under-voltage load shedding (UVLS), is broadly used to grapple with low voltage and voltage instability issues in practical power systems under contingencies. However, existing emergency control schemes…

Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…

In this paper, we tackle the state transformation problem in non-strict full state-constrained systems by introducing an adaptive fixed-time control method, utilizing a one-to-one asymmetric nonlinear mapping auxiliary system. Additionally,…

Recurrent neural networks (RNNs) have demonstrated impressive results for virtual analog modeling of audio effects. These networks process time-domain audio signals using a series of matrix multiplication and nonlinear activation functions…

Motor control requires sensory feedback, and the nature of this feedback has implications for the tasks of the central nervous system (CNS): for an approximately linear mechanical system (e.g., a freely standing person, a rider on a…

Learning weights in a spiking neural network with hidden neurons, using local, stable and online rules, to control non-linear body dynamics is an open problem. Here, we employ a supervised scheme, Feedback-based Online Local Learning Of…

In recent years, Neural Networks (NNs) have been employed to control nonlinear systems due to their potential capability in dealing with situations that might be difficult for conventional nonlinear control schemes. However, to the best of…

This article proposes a model-based deep reinforcement learning (DRL) method to design emergency control strategies for short-term voltage stability problems in power systems. Recent advances show promising results in model-free DRL-based…

We study in this paper the problem of iterative feedback gains tuning for a class of nonlinear systems. We consider Input-Output linearizable nonlinear systems with additive uncertainties. We first design a nominal Input-Output…

Reinforcement learning (RL) policies trained in simulation often suffer from severe performance degradation when deployed in real-world environments due to non-stationary dynamics. While Domain Randomization (DR) and meta-RL have been…

Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…

Compute-in-memory accelerators built upon non-volatile memory devices excel in energy efficiency and latency when performing deep neural network (DNN) inference, thanks to their in-situ data processing capability. However, the stochastic…

The demand for accurate and fast trajectory tracking for multirotor Unmanned Aerial Vehicles (UAVs) have grown recently due to advances in UAV avionics technology and application domains. In many applications, the multirotor UAV is required…

Learning-based control methods typically assume stationary system dynamics, an assumption often violated in real-world systems due to drift, wear, or changing operating conditions. We study reinforcement learning for control under…

Convolutional neural networks (CNNs) are commonly used for image classification tasks, raising the challenge of their application on data flows. During their training, adaptation is often performed by tuning the learning rate. Usual…

A safe and robust on-road navigation system is a crucial component of achieving fully automated vehicles. NVIDIA recently proposed an End-to-End algorithm that can directly learn steering commands from raw pixels of a front camera by using…

Vision based control of Unmanned Aerial Vehicles (UAVs) has been adopted by a wide range of applications due to the availability of low-cost on-board sensors and computers. Tuning such systems to work properly requires extensive domain…

In this work we release our extensible and easily configurable neural network training software. It provides a rich set of functional layers with a particular focus on efficient training of recurrent neural network topologies on multiple…

In this paper, we propose an adaptive event-triggered reinforcement learning control for continuous-time nonlinear systems, subject to bounded uncertainties, characterized by complex interactions. Specifically, the proposed method is…