相关论文: Learning Linear Complementarity Systems

In this paper, we propose a unified framework for identifying interpretable nonlinear dynamical models that preserve physical properties. The proposed approach integrates physical principles with black-box basis functions to compensate for…

Discovering the underlying dynamics of complex systems from data is an important practical topic. Constrained optimization algorithms are widely utilized and lead to many successes. Yet, such purely data-driven methods may bring about…

In this paper we provide a rigorous mathematical foundation for continuous approximations of a class of systems with piece-wise continuous functions. By using techniques from the theory of differential inclusions, the underlying piece-wise…

Linear time-invariant systems are very popular models in system theory and applications. A fundamental problem in system identification that remains rather unaddressed in extant literature is to leverage commonalities amongst related linear…

Physics-based and first-principles models pervade the engineering and physical sciences, allowing for the ability to model the dynamics of complex systems with a prescribed accuracy. The approximations used in deriving governing equations…

This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules. The primary advantage of the scheme over…

Despite the advancement of machine learning techniques in recent years, state-of-the-art systems lack robustness to "real world" events, where the input distributions and tasks encountered by the deployed systems will not be limited to the…

In this paper we develop a method for learning nonlinear systems with multiple outputs and inputs. We begin by modelling the errors of a nominal predictor of the system using a latent variable framework. Then using the maximum likelihood…

Unsupervised domain adaptive object detection aims to learn a robust detector in the domain shift circumstance, where the training (source) domain is label-rich with bounding box annotations, while the testing (target) domain is…

We study the learning ability of linear recurrent neural networks with Gradient Descent. We prove the first theoretical guarantee on linear RNNs to learn any stable linear dynamic system using any a large type of loss functions. For an…

In control design most control strategies are model-based and require accurate models to be applied successfully. Due to simplifications and the model-reality-gap physics-derived models frequently exhibit deviations from real-world-systems.…

We propose a learning-based robust predictive control algorithm that compensates for significant uncertainty in the dynamics for a class of discrete-time systems that are nominally linear with an additive nonlinear component. Such systems…

We present an efficient and practical algorithm for the online prediction of discrete-time linear dynamical systems with a symmetric transition matrix. We circumvent the non-convex optimization problem using improper learning: carefully…

Predictive simulations of complex systems are essential for applications ranging from weather forecasting to drug design. The veracity of these predictions hinges on their capacity to capture the effective system dynamics. Massively…

Synchronization phenomena are pervasive in coupled nonlinear systems across the natural world and engineering domains. Understanding how to dynamically identify the parameter space (or network structure) of coupled nonlinear systems in a…

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…

We study the identification of a linear time-invariant dynamical system affected by large-and-sparse disturbances modeling adversarial attacks or faults. Under the assumption that the states are measurable, we develop necessary and…

Learning to perform perfect tracking tasks based on measurement data is desirable in the controller design of systems operating repetitively. This motivates the present paper to seek an optimization-based design approach for iterative…

The development of data-informed predictive models for dynamical systems is of widespread interest in many disciplines. We present a unifying framework for blending mechanistic and machine-learning approaches to identify dynamical systems…

We propose a hybrid meta-learning framework for forecasting and anomaly detection in nonlinear dynamical systems characterized by nonstationary and stochastic behavior. The approach integrates a physics-inspired simulator that captures…