相关论文: Control-Theoretic Techniques for Online Adaptation…

A critical goal of adaptive control is enabling robots to rapidly adapt in dynamic environments. Recent studies have developed a meta-learning-based adaptive control scheme, which uses meta-learning to extract nonlinear features…

Deep Neural Networks (DNNs) are typically trained by backpropagation in a batch learning setting, which requires the entire training data to be made available prior to the learning task. This is not scalable for many real-world scenarios…

Control of a dynamical system without the knowledge of dynamics is an important and challenging task. Modern machine learning approaches, such as deep neural networks (DNNs), allow for the estimation of a dynamics model from control inputs…

Although deep neural network (DNN)-based controllers are popularly used to control uncertain nonlinear dynamic systems, most results use DNNs that are pretrained offline and the corresponding controller is implemented post-training. Recent…

Interpretation of Deep Neural Networks (DNNs) training as an optimal control problem with nonlinear dynamical systems has received considerable attention recently, yet the algorithmic development remains relatively limited. In this work, we…

Recently, deep neural network (DNN) has been widely adopted in the design of intelligent communication systems thanks to its strong learning ability and low testing complexity. However, most current offline DNN-based methods still suffer…

This work presents an online learning-based control method for improved trajectory tracking of unmanned aerial vehicles using both deep learning and expert knowledge. The proposed method does not require the exact model of the system to be…

Trajectory tracking control for quadrotors is important for applications ranging from surveying and inspection, to film making. However, designing and tuning classical controllers, such as proportional-integral-derivative (PID) controllers,…

Deep Neural Networks (DNNs) are increasingly used in control applications due to their powerful function approximation capabilities. However, many existing formulations focus primarily on tracking error convergence, often neglecting the…

Modern deep neural network (DNN) trainings utilize various training techniques, e.g., nonlinear activation functions, batch normalization, skip-connections, etc. Despite their effectiveness, it is still mysterious how they help accelerate…

Optimization of deep neural networks (DNNs) has been a driving force in the advancement of modern machine learning and artificial intelligence. With DNNs characterized by a prolonged sequence of nonlinear propagation, determining their…

Attempts from different disciplines to provide a fundamental understanding of deep learning have advanced rapidly in recent years, yet a unified framework remains relatively limited. In this article, we provide one possible way to align…

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…

Adaptive methods are popular within the control literature due to the flexibility and forgiveness they offer in the area of modelling. Neural network adaptive control is favorable specifically for the powerful nature of the machine learning…

Deep neural networks (DNNs) play a crucial role in the field of machine learning, demonstrating state-of-the-art performance across various application domains. However, despite their success, DNN-based models may occasionally exhibit…

Training of deep neural networks (DNNs) frequently involves optimizing several millions or even billions of parameters. Even with modern computing architectures, the computational expense of DNN training can inhibit, for instance, network…

In this paper, the problem of optimal gradient lossless compression in Deep Neural Network (DNN) training is considered. Gradient compression is relevant in many distributed DNN training scenarios, including the recently popular federated…

In this paper, we consider the distributed optimal control problem for discrete-time linear networked systems. In particular, we are interested in learning distributed optimal controllers using graph recurrent neural networks (GRNNs). Most…

In the past decade, deep neural networks (DNNs) came to the fore as the leading machine learning algorithms for a variety of tasks. Their raise was founded on market needs and engineering craftsmanship, the latter based more on trial and…

Deep neural network (DNN)-based adaptive controllers can be used to compensate for unstructured uncertainties in nonlinear dynamic systems. However, DNNs are also very susceptible to overfitting and co-adaptation. Dropout regularization is…