相关论文: Tight Stability, Convergence, and Robustness Bound…

We propose a novel approach to design a robust Model Predictive Controller (MPC) for constrained uncertain linear systems. The uncertain system is modeled as linear parameter varying with additive disturbance. Set bounds for the system…

Robots must satisfy safety-critical state and input constraints despite disturbances and model mismatch. We introduce a robust model predictive control (RMPC) formulation that is fast, scalable, and compatible with real-time implementation.…

Advancements in quantum computing have spurred significant interest in harnessing its potential for speedups over classical systems. However, noise remains a major obstacle to achieving reliable quantum algorithms. In this work, we present…

In this paper, we present a nonlinear robust model predictive control (MPC) framework for general (state and input dependent) disturbances. This approach uses an online constructed tube in order to tighten the nominal (state and input)…

Recently, there has been growing interest in using physics-informed neural networks (PINNs) to solve differential equations. However, the preservation of structure, such as energy and stability, in a suitable manner has yet to be…

The rapid increase in the integration of intermittent and stochastic renewable energy resources (RER) introduces challenging issues related to power system stability. Interestingly, identifying grid nodes that can best support stochastic…

A method is presented to analyze the stability of feedback systems with neural network controllers. Two stability theorems are given to prove asymptotic stability and to compute an ellipsoidal inner-approximation to the region of attraction…

Despite extensive progress on image generation, common deep generative model architectures are not easily applied to lossless compression. For example, VAEs suffer from a compression cost overhead due to their latent variables. This…

This paper presents an adaptive horizon multi-stage model-predictive control (MPC) algorithm. It establishes appropriate criteria for recursive feasibility and robust stability using the theory of input-to-state practical stability (ISpS).…

Probabilistic models based on continuous latent spaces, such as variational autoencoders, can be understood as uncountable mixture models where components depend continuously on the latent code. They have proven to be expressive tools for…

We study continuous action reinforcement learning problems in which it is crucial that the agent interacts with the environment only through safe policies, i.e.,~policies that do not take the agent to undesirable situations. We formulate…

Adversarial examples pose a security threat to many critical systems built on neural networks (such as face recognition systems, and self-driving cars). While many methods have been proposed to build robust models, how to build certifiably…

The stability of stochastic Model Predictive Control (MPC) subject to additive disturbances is often demonstrated in the literature by constructing Lyapunov-like inequalities that guarantee closed-loop performance bounds and boundedness of…

Designing predictive controllers towards optimal closed-loop performance while maintaining safety and stability is challenging. This work explores closed-loop learning for predictive control parameters under imperfect information while…

Learning under non-smooth objectives remains a fundamental challenge in machine learning, as abrupt changes in conditioning variables can induce highly non-smooth loss landscapes and destabilize optimization. This difficulty is particularly…

This thesis addresses the question of stability of systems defined by differential equations which contain nonlinearity and delay. In particular, we analyze the stability of a well-known delayed nonlinear implementation of a certain…

Many Bayesian Network structure learning algorithms are unstable, with the learned graph sensitive to arbitrary dataset artifacts, such as the ordering of columns (i.e., variable order). PC-Stable attempts to address this issue for the…

Principal component regression (PCR) is a simple, but powerful and ubiquitously utilized method. Its effectiveness is well established when the covariates exhibit low-rank structure. However, its ability to handle settings with noisy,…

This study presents a scalable data-driven algorithm designed to efficiently address the challenging problem of reachability analysis. Analysis of cyber-physical systems (CPS) relies typically on parametric physical models of dynamical…

This note extends a recently proposed algorithm for model identification and robust MPC of asymptotically stable, linear time-invariant systems subject to process and measurement disturbances. Independent output predictors for different…