相关论文: Negative Imaginary Neural ODEs: Learning to Contro…

This work primarily focuses on an operator inference methodology aimed at constructing low-dimensional dynamical models based on a priori hypotheses about their structure, often informed by established physics or expert insights. Stability…

Neural network controllers have become popular in control tasks thanks to their flexibility and expressivity. Stability is a crucial property for safety-critical dynamical systems, while stabilization of partially observed systems, in many…

Using vanilla NeuralODEs to model large and/or complex systems often fails due two reasons: Stability and convergence. NeuralODEs are capable of describing stable as well as instable dynamic systems. Selecting an appropriate numerical…

We present a novel approach (DyNODE) that captures the underlying dynamics of a system by incorporating control in a neural ordinary differential equation framework. We conduct a systematic evaluation and comparison of our method and…

Differential equations are frequently used in engineering domains, such as modeling and control of industrial systems, where safety and performance guarantees are of paramount importance. Traditional physics-based modeling approaches…

This paper provides a state feedback stabilization approach for nonlinear systems of relative degree less than or equal to two by rendering them nonlinear negative imaginary (NI) systems. Conditions are provided under which a nonlinear…

Neural operators, which emerge as implicit solution operators of hidden governing equations, have recently become popular tools for learning responses of complex real-world physical systems. Nevertheless, the majority of neural operator…

Neural ordinary differential equations (Neural ODEs) define continuous time dynamical systems with neural networks. The interest in their application for modelling has sparked recently, spanning hybrid system identification problems and…

The negative imaginary (NI) systems theory has attracted interests due to the robustness properties of feedback interconnected NI systems. However, a full output optimal controller-synthesis methodology, for such class of systems, is yet to…

This paper proposes an imitation learning (IL) framework for synthesizing neural network (NN) controllers that achieve boundary stabilization of systems governed by reaction-diffusion partial differential equations (PDEs). The plant is…

We present a new method for learning control law that stabilizes an unknown nonlinear dynamical system at an equilibrium point. We formulate a system identification task in a self-supervised learning setting that jointly learns a controller…

Stability guarantees are crucial when ensuring that a fully autonomous robot does not take undesirable or potentially harmful actions. We recently proposed the Neural Contractive Dynamical Systems (NCDS), which is a neural network…

Based on the invariance principle of differential equations a simple, systematic, and rigorous feedback scheme with the variable feedback strength is proposed to stabilize nonlinearly any chaotic systems without any prior analytical…

In future power systems, the detailed structure and dynamics may not always be fully known. This is due to an increasing number of distributed energy resources, such as photovoltaic generators, battery storage systems, heat pumps and…

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)…

When neural networks are used to model dynamics, properties such as stability of the dynamics are generally not guaranteed. In contrast, there is a recent method for learning the dynamics of autonomous systems that guarantees global…

When learning dynamical systems from data, embedding physical structure can constrain the solution space and improve generalization, but many physics-informed models assume access to the full system state. This limits their use in partially…

This paper considers the optimal control and stabilization problems for networked control systems (NCSs) with asymmetric information. In this NCSs model, the remote controller can receive packet-dropout states of the plant, and the…

We introduce a provably stable variant of neural ordinary differential equations (neural ODEs) whose trajectories evolve on an energy functional parametrised by a neural network. Stable neural flows provide an implicit guarantee on…

We study the optimal control of multiple-input and multiple-output dynamical systems via the design of neural network-based controllers with stability and output tracking guarantees. While neural network-based nonlinear controllers have…