相关论文: Comparison of artificial neural network adaptive c…

A desirable property in fault-tolerant controllers is adaptability to system changes as they evolve during systems operations. An adaptive controller does not require optimal control policies to be enumerated for possible faults. Instead it…

A centralized model predictive controller (MPC), which is unaware of local uncertainties, for an affine discrete time nonlinear system is presented. The local uncertainties are assumed to be matched, bounded and structured. In order to…

Drift vehicle control offers valuable insights to support safe autonomous driving in extreme conditions, which hinges on tracking a particular path while maintaining the vehicle states near the drift equilibrium points (DEP). However,…

Recent literature in the field of machine learning (ML) control has shown promising theoretical results for a Deep Neural Network (DNN) based Nonlinear Adaptive Controller (DNAC) capable of achieving trajectory tracking for nonlinear…

We present differentiable predictive control (DPC), a method for learning constrained neural control policies for linear systems with probabilistic performance guarantees. We employ automatic differentiation to obtain direct policy…

In this paper, adaptive neural control (ANC) is investigated for a class of strict-feedback nonlinear stochastic systems with unknown parameters, unknown nonlinear functions and stochastic disturbances. The new controller of adaptive neural…

Driven by the flexible manufacturing trend in the process control industry and the uncertain nature of chemical process models, this article aims to achieve offset-free tracking for a family of uncertain nonlinear systems (e.g., using…

Composite adaptive control (CAC) that integrates direct and indirect adaptive control techniques can achieve smaller tracking errors and faster parameter convergence compared with direct and indirect adaptive control techniques. However,…

We present a new neuroadaptive architecture: Deep Neural Network based Model Reference Adaptive Control (DMRAC). Our architecture utilizes the power of deep neural network representations for modeling significant nonlinearities while…

Neural Networks (NNs) trained through supervised learning struggle with managing edge-case scenarios common in real-world driving due to the intractability of exhaustive datasets covering all edge-cases, making knowledge-driven approaches,…

Networked Predictive Control is widely used to mitigate the effect of delays and dropouts in Networked Control Systems, particularly when these exceed the sampling time. A key design choice of these methods is the delay bound, which…

This letter proposes a convolutional neural network (CNN)-based adaptive controller wtih three notable features: 1) it determines control input directly from historical sensor data (in an end-to-end process); 2) it learns the desired…

In this paper, we present Asynchronous implementation of Deep Neural Network-based Model Reference Adaptive Control (DMRAC). We evaluate this new neuro-adaptive control architecture through flight tests on a small quadcopter. We demonstrate…

Robust Model Predictive Control (MPC) for nonlinear systems is a problem that poses significant challenges as highlighted by the diversity of approaches proposed in the last decades. Often compromises with respect to computational load,…

Data-enabled predictive control (DeePC) for linear systems utilizes data matrices of recorded trajectories to directly predict new system trajectories, which is very appealing for real-life applications. In this paper we leverage the…

The paper presents a distributed model predictive control (DMPC) scheme for continuous-time nonlinear systems based on the alternating direction method of multipliers (ADMM). A stopping criterion in the ADMM algorithm limits the iterations…

In this paper, we present a learning-based nonlinear model predictive controller (NMPC) using an original reinforcement learning (RL) method to learn the optimal weights of the NMPC scheme, for which two methods are proposed. Firstly, the…

In this paper, we propose an online learning-based predictive control (LPC) approach designed for nonlinear systems that lack explicit system dynamics. Unlike traditional model predictive control (MPC) algorithms that rely on known system…

This study introduces the Perception Latency Mitigation Network (PLM-Net), a modular deep learning framework designed to mitigate perception latency in vision-based imitation-learning lane-keeping systems. Perception latency, defined as the…

Deep learning-based hearing loss compensation (HLC) seeks to enhance speech intelligibility and quality for hearing impaired listeners using neural networks. One major challenge of HLC is the lack of a ground-truth target. Recent works have…