相关论文: PIDformer: Transformer Meets Control Theory

This work aims to raise awareness among engineering students from different disciplines on the importance of feedback control. The proposal consists in comparing the performance of different control strategies in a laboratory session,…

The widespread 'deeper is better' philosophy has driven the creation of architectures like ResNet and Transformer, which achieve high performance by stacking numerous layers. However, increasing model depth comes with challenges such as…

The comparative study of Proportional-Integral (PI) and Proportional-Integral-Derivative (PID) controllers applied to level and flow control in coupled tank systems is presented in this research work. The coupled tank system, characterized…

This paper considers the problem of controlling a dynamical system when the state cannot be directly measured and the control performance metrics are unknown or partially known. In particular, we focus on the design of data-driven…

Transformer-based deep learning models have achieved state-of-the-art performance across numerous language and vision tasks. While the self-attention mechanism, a core component of transformers, has proven capable of handling complex data…

In this paper, we study the concept of approximate controllability of retarded network systems of neutral type. On one hand, we reformulate such systems as free-delay boundary control systems on product spaces. On the other hand, we use the…

We establish an algorithm to learn feedback maps from data for a class of robust model predictive control (MPC) problems. The algorithm accounts for the approximation errors due to the learning directly at the synthesis stage, ensuring…

A two-wheeled self-balancing robot is an example of an inverse pendulum and is an inherently non-linear, unstable system. The fundamental concept of the proposed framework "Epersist" is to overcome the challenge of counterbalancing an…

We propose an approach to design a Model Predictive Controller (MPC) for constrained Linear Time Invariant systems performing an iterative task. The system is subject to an additive disturbance, and the goal is to learn to satisfy state and…

Decoder-only transformers compute the conditional probability of the next token from a sequence of past observations. This paper derives, from first principles, inference architectures that solve the same prediction problem - and in doing…

This paper addresses the problem of obtaining low-order models of fluid flows for the purpose of designing robust feedback controllers. This is challenging since whilst many flows are governed by a set of nonlinear, partial…

We consider estimation and 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 causal estimators and controllers which…

This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…

This paper derives new formulations for designing dominant pole placement based proportional-integral-derivative (PID) controllers to handle second order processes with time delays (SOPTD). Previously, similar attempts have been made for…

While reinforcement learning has made great improvements, state-of-the-art algorithms can still struggle with seemingly simple set-point feedback control problems. One reason for this is that the learned controller may not be able to excite…

Robust reinforcement learning agents using high-dimensional observations must be able to identify relevant state features amidst many exogeneous distractors. A representation that captures controllability identifies these state elements by…

Performing machine learning with analog signals offers advantages in speed and energy efficiency, but sensitivity to component and measurement imperfections often foils training without a system-specific companion digital model. Here we…

One critical component in lossy deep image compression is the entropy model, which predicts the probability distribution of the quantized latent representation in the encoding and decoding modules. Previous works build entropy models upon…

Handling the ever-increasing scale of contemporary deep learning and transformer-based models poses a significant challenge. Overparameterized Transformer networks outperform prior art in Natural Language processing and Computer Vision.…

An investigation of optimal feedback controllers' performance and robustness is carried out for vortex shedding behind a 2D cylinder at low Reynolds numbers. To facilitate controller design, we present an efficient modelling approach in…