相关论文: Controlling Chaotic Maps using Next-Generation Res…

Chaotic dynamics are ubiquitous in nature and useful in engineering, but their geometric design can be challenging. Here, we propose a method using reservoir computing to generate chaos with a desired shape by providing a periodic orbit as…

Recent studies have shown that chaotic maps are well-suited for applications requiring unpredictable behaviour, making them a valuable tool for enhancing unpredictability and complexity. A method is developed using 3D parametric equations…

This paper proposes an algorithm capable of driving a system to follow a piecewise linear trajectory without prior knowledge of the system dynamics. Motivated by a critical failure scenario in which a system can experience an abrupt change…

Generative modeling aims at producing new datapoints whose statistical properties resemble the ones in a training dataset. In recent years, there has been a burst of machine learning techniques and settings that can achieve this goal with…

Nonlinear tracking control enabling a dynamical system to track a desired trajectory is fundamental to robotics, serving a wide range of civil and defense applications. In control engineering, designing tracking control requires complete…

This paper introduces H-MaP, a hybrid sequential manipulation planner that addresses complex tasks requiring both sequential actions and dynamic contact mode switches. Our approach reduces configuration space dimensionality by decoupling…

This paper proposes a novel approach to improve the performance of distributed nonlinear control systems while preserving stability by leveraging Deep Neural Networks (DNNs). We build upon the Neural System Level Synthesis (Neur-SLS)…

An emerging computing paradigm, so-called next-generation reservoir computing (NG-RC) is investigated. True to its namesake, NG-RC requires no actual reservoirs for input data mixing but rather computing the polynomial terms directly from…

Advances in machine learning have revolutionized capabilities in applications ranging from natural language processing to marketing to health care. Here, we demonstrate the efficacy of machine learning in predicting chaotic behavior in…

I present a data-driven predictive modeling tool that is applicable to high-dimensional chaotic systems with unstable periodic orbits. The basic idea is using deep neural networks to learn coordinate transformations between the trajectories…

Human-Lead Cooperative Adaptive Cruise Control (HL-CACC) is regarded as a promising vehicle platooning technology in real-world implementation. By utilizing a Human-driven Vehicle (HV) as the platoon leader, HL-CACC reduces the cost and…

Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with different controllers running at multiple time scales. Yet…

We consider control in linear time-varying dynamical systems from the perspective of regret minimization. Unlike most prior work in this area, we focus on the problem of designing an online controller which minimizes regret against the best…

This work proposes a robust data-driven predictive control approach for unknown nonlinear systems in the presence of bounded process and measurement noise. Data-driven reachable sets are employed for the controller design instead of using…

It is demonstrated that improved entrainment control of chaotic systems can maintain periodic goal dynamics near unstable periodic orbits without feedback. The method is based on the optimization of goal trajectories and leads to small…

This paper proposes a control strategy consisting of a robust controller and an Echo State Network (ESN) based control law for stabilizing a class of uncertain nonlinear discrete-time systems subject to persistent disturbances. Firstly, the…

Reservoir computing (RC) is a leading machine learning algorithm for information processing due to its rich expressiveness. A new RC paradigm has recently emerged, showcasing superior performance and delivering more interpretable results…

Reservoir Computing (RC) is an appealing approach in Machine Learning that combines the high computational capabilities of Recurrent Neural Networks with a fast and easy training method. Likewise, successful implementation of neuro-inspired…

This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…

We present a real-time-capable set-based framework for closed-loop predictive control of autonomous systems using tools from computational geometry, dynamic programming, and convex optimization. The control architecture relies on the…