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

In this paper, we extend nonlinear negative imaginary (NI) systems theory to switched systems. Switched nonlinear NI systems and switched nonlinear output strictly negative imaginary (OSNI) systems are defined. We show that the…

This paper applies the recently developed framework for integral control on nonlinear spaces to two non-standard cases. First, we show that the property of perfect target stabilization in presence of actuation bias holds also if this bias…

This paper deals with the stabilization of a class of linear infinite-dimensional systems with unbounded control operators and subject to a boundary disturbance. We assume that there exists a linear feedback law that makes the origin of the…

This paper investigates the stability properties of neural operators through the structured representation offered by the Hybrid B-spline Deep Neural Operator (HBDNO). While existing stability-aware architectures typically enforce…

This work presents a control-oriented identification scheme for efficient control design and stability analysis of nonlinear systems. Neural networks are used to identify a discrete-time nonlinear state-space model to approximate…

Despite their elegant formulation and lightweight memory cost, neural ordinary differential equations (NODEs) suffer from known representational limitations. In particular, the single flow learned by NODEs cannot express all homeomorphisms…

Immersion and Invariance is a technique for the design of stabilizing and adaptive controllers and state observers for nonlinear systems. In all these applications the problem considered is the stabilization of equilibrium points. Motivated…

Neural differential equations predict the derivative of a stochastic process. This allows irregular forecasting with arbitrary time-steps. However, the expressive temporal flexibility often comes with a high sensitivity to noise. In…

We describe a framework that can integrate prior physical information, e.g., the presence of kinematic constraints, to support data-driven simulation in multi-body dynamics. Unlike other approaches, e.g., Fully-connected Neural Network…

Maintaining numerical stability in machine learning models is crucial for their reliability and performance. One approach to maintain stability of a network layer is to integrate the condition number of the weight matrix as a regularizing…

This paper studies the problem of selecting a minimum-size set of input nodes to guarantee stability of a networked system in the presence of uncertainties and time delays. Current approaches to input selection in networked dynamical…

Neural ordinary differential equations (NODEs) have been proven useful for learning non-linear dynamics of arbitrary trajectories. However, current NODE methods capture variations across trajectories only via the initial state value or by…

In this paper we study the problem of determining the largest degree of stability that can be achieved for SISO systems using negative imaginary state feedback control. A state feedback result is given for synthesising a controller for a…

Traditional approaches to stabilizing hyperbolic PDEs, such as PDE backstepping, often encounter challenges when dealing with high-dimensional or complex nonlinear problems. Their solutions require high computational and analytical costs.…

Positive-negative pressure regulation is critical to soft robotic actuators, enabling large motion ranges and versatile actuation modes. However, it remains challenging due to complex nonlinearities, oscillations, and direction-dependent,…

Physics-informed neural network architectures have emerged as a powerful tool for developing flexible PDE solvers which easily assimilate data, but face challenges related to the PDE discretization underpinning them. By instead adapting a…

We investigate the use of deep neural networks to control complex nonlinear dynamical systems, specifically the movement of a rigid body immersed in a fluid. We solve the Navier Stokes equations with two way coupling, which gives rise to…

Neural ordinary differential equations are an attractive option for modelling temporal dynamics. However, a fundamental issue is that the solution to an ordinary differential equation is determined by its initial condition, and there is no…

This work proposes an extension of neural ordinary differential equations (NODEs) by introducing an additional set of ODE input parameters to NODEs. This extension allows NODEs to learn multiple dynamics specified by the input parameter…

Neural operators have emerged as promising surrogate models for solving partial differential equations (PDEs), but struggle to generalise beyond training distributions and are often constrained to a fixed temporal discretisation. This work…