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

We study in this paper the problem of adaptive trajectory tracking control for a class of nonlinear systems with parametric uncertainties. We propose to use a modular approach, where we first design a robust nonlinear state feedback which…

Recent works in end-to-end control for autonomous driving have investigated the use of vision-based exteroceptive perception. Inspired by such results, we propose a new end-to-end memory-based neural architecture for robot steering and…

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…

In this paper we present an algorithm-hardware codesign for camera-based autonomous flight in small drones. We show that the large write-latency and write-energy for nonvolatile memory (NVM) based embedded systems makes them unsuitable for…

Modeling quantum many-body systems is enormously challenging due to the exponential scaling of Hilbert dimension with system size. Finding efficient compressions of the wavefunction is key to building scalable models. Here, we introduce…

Soft robots are increasingly used in healthcare, especially for assistive care, due to their inherent safety and adaptability. Controlling soft robots is challenging due to their nonlinear dynamics and the presence of time delays,…

Linear Quadratic Regulator (LQR) is often combined with feedback linearization (FBL) for nonlinear systems that have the nonlinearity additive to the input. Conventional approaches estimate and cancel the nonlinearity based on the first…

Recurrent Neural Networks (RNNs) have become the state-of-the-art choice for extracting patterns from temporal sequences. However, current RNN models are ill-suited to process irregularly sampled data triggered by events generated in…

In this paper, we address the problem of reference tracking for uncertain nonlinear systems. Since collecting data from the target system (i.e., the system of interest) is often challenging, our objective is to design optimal controllers…

We present a Reinforcement Learning-based Robust Nonlinear Model Predictive Control (RL-RNMPC) framework for controlling nonlinear systems in the presence of disturbances and uncertainties. An approximate Robust Nonlinear Model Predictive…

Inverter-based distributed energy resources provide the possibility for fast time-scale voltage control by quickly adjusting their reactive power. The power-electronic interfaces allow these resources to realize almost arbitrary control…

Complex mechanical systems such as vehicle powertrains are inherently subject to multiple nonlinearities and uncertainties arising from parametric variations. Modeling errors are therefore unavoidable, making the transfer of control systems…

Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…

We present a novel methodology for control of neural circuits based on deep reinforcement learning. Our approach achieves aimed behavior by generating external continuous stimulation of existing neural circuits (neuromodulation control) or…

UAV control system is a huge and complex system, and to design and test a UAV control system is time-cost and money-cost. This paper considered the simulation of identification of a nonlinear system dynamics using artificial neural networks…

The electric grid is undergoing a major transition from fossil fuel-based power generation to renewable energy sources, typically interfaced to the grid via power electronics. The future power systems are thus expected to face increased…

Controlling the complex combustion dynamics within solid fuel ramjets (SFRJs) remains a critical challenge limiting deployment at scale. This paper proposes the use of a neural network model to process in-situ measurements for monitoring…

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…

This paper introduces deep neural networks (DNNs) as add-on blocks to baseline feedback control systems to enhance tracking performance of arbitrary desired trajectories. The DNNs are trained to adapt the reference signals to the feedback…

This work, based on Random Matrix Theory (RMT), introduces a novel early-stopping strategy for Transformer training dynamics. Utilizing the Power Law (PL) fit to tansformer attention matrices as a probe, we demarcate training into three…