相关论文: Neural Data-Enabled Predictive Control

We present a novel data-driven Model Predictive Control (MPC) algorithm for nonlinear systems. The method is based on recent extensions of behavioural theory and Willem's Fundamental Lemma for nonlinear systems by the means of adequate…

Bioprocesses are often characterised by nonlinear and uncertain dynamics, posing particular challenges for model predictive control (MPC) algorithms due to their computational demands when applied to nonlinear systems. Recent advances in…

Predictive coding (PC) is an influential theory in computational neuroscience, which argues that the cortex forms unsupervised world models by implementing a hierarchical process of prediction error minimization. PC networks (PCNs) are…

We discuss nonlinear model predictive control (NMPC) for multi-body dynamics via physics-informed machine learning methods. Physics-informed neural networks (PINNs) are a promising tool to approximate (partial) differential equations. PINNs…

Complex nonlinear models such as deep neural network (DNNs) have become an important tool for image classification, speech recognition, natural language processing, and many other fields of application. These models however lack…

Deep learning is the backbone of artificial intelligence technologies, and it can be regarded as a kind of multilayer feedforward neural network. An essence of deep learning is information propagation through layers. This suggests that…

Neural networks have proven practical for a synergistic combination of advanced control techniques. This work analyzes the implementation of rectified linear unit neural networks to achieve constrained control in differentially flat…

This paper introduces a novel nonlinear model predictive control (NMPC) framework that incorporates a lifting technique to enhance control performance for nonlinear systems. While the lifting technique has been widely employed in linear…

As supported by abundant experimental evidence, neural networks are state-of-the-art for many approximation tasks in high-dimensional spaces. Still, there is a lack of a rigorous theoretical understanding of what they can approximate, at…

This paper develops a data-driven learning framework for approximating the feasible region and invariant set of a nonlinear system under the nonlinear Model Predictive Control (MPC) scheme. The developed approach is based on the feasibility…

In this paper, we present an initial attempt to learn evolution PDEs from data. Inspired by the latest development of neural network designs in deep learning, we propose a new feed-forward deep network, called PDE-Net, to fulfill two…

In this study, we use a wavelet neural network with a feedforward component and a model predictive controller for online nonlinear system identification over a communication network. The wavelet neural network (WNN) performs the online…

Adaptive control is subject to stability and performance issues when a learned model is used to enhance its performance. This paper thus presents a deep learning-based adaptive control framework for nonlinear systems with…

In this work, we propose a rigorous method for implementing predictor feedback controllers in nonlinear systems with unknown and arbitrarily long actuator delays. To address the analytically intractable nature of the predictor, we…

We propose a novel training method that integrates rules into deep learning, in a way the strengths of the rules are controllable at inference. Deep Neural Networks with Controllable Rule Representations (DeepCTRL) incorporates a rule…

This paper introduces a Nonlinear Model Predictive Control (N-MPC) framework exploiting a Deep Neural Network for processing onboard-captured depth images for collision avoidance in trajectory-tracking tasks with UAVs. The network is…

Inspired by "predictive coding" - a theory in neuroscience, we develop a bi-directional and dynamic neural network with local recurrent processing, namely predictive coding network (PCN). Unlike feedforward-only convolutional neural…

Data-driven predictive control (DPC), using linear combinations of recorded trajectory data, has recently emerged as a popular alternative to traditional model predictive control (MPC). Without an explicitly enforced prediction model, the…

Neural controlled differential equations (Neural CDEs) are a continuous-time extension of recurrent neural networks (RNNs), achieving state-of-the-art (SOTA) performance at modelling functions of irregular time series. In order to interpret…

While it is widely known that neural networks are universal approximators of continuous functions, a less known and perhaps more powerful result is that a neural network with a single hidden layer can approximate accurately any nonlinear…