相关论文: Closing the Loop Inside Neural Networks: Causality…

Among the major challenges in neural control system technology is the validation and certification of the safety and robustness of neural network (NN) controllers against various uncertainties including unmodelled dynamics, nonlinearities,…

The demand for accurate and fast trajectory tracking for multirotor Unmanned Aerial Vehicles (UAVs) have grown recently due to advances in UAV avionics technology and application domains. In many applications, the multirotor UAV is required…

This paper proposes a reliable learning-based adaptive control framework for nonlinear multi-agent systems (MASs) subject to Denial-of-Service (DoS) attacks and singular control gains, two critical challenges in cyber-physical systems. A…

Deep neural networks are among the most widely applied machine learning tools showing outstanding performance in a broad range of tasks. We present a method for folding a deep neural network of arbitrary size into a single neuron with…

Active Noise Control (ANC) systems are challenged by nonlinear distortions, which degrade the performance of traditional adaptive filters. While deep learning-based ANC algorithms have emerged to address nonlinearity, existing approaches…

Deep Neural Networks (DNNs) are widely being adopted for safety-critical applications, e.g., healthcare and autonomous driving. Inherently, they are considered to be highly error-tolerant. However, recent studies have shown that hardware…

The deformable linear objects (DLOs) are common in both industrial and domestic applications, such as wires, cables, ropes. Because of its highly deformable nature, it is difficult for the robot to reproduce human's dexterous skills on…

Deep neural networks (DNNs), trained with gradient-based optimization and backpropagation, are currently the primary tool in modern artificial intelligence, machine learning, and data science. In many applications, DNNs are trained offline,…

Deep neural networks (DNN) are increasingly being used to learn controllers due to their excellent approximation capabilities. However, their black-box nature poses significant challenges to closed-loop stability guarantees and performance…

We propose a novel adaptive reinforcement learning control approach for fault tolerant control of degrading systems that is not preceded by a fault detection and diagnosis step. Therefore, \textit{a priori} knowledge of faults that may…

With the increasing complexity of computing systems, complete hardware reliability can no longer be guaranteed. We need, however, to ensure overall system reliability. One of the most important features of artificial neural networks is…

The increasing prevalence of neural networks (NNs) in safety-critical applications calls for methods to certify their behavior and guarantee safety. This paper presents a backward reachability approach for safety verification of neural…

Deep neural networks (DNNs) have become increasingly popular in recent years. However, despite their many successes, DNNs may also err and produce incorrect and potentially fatal outputs in safety-critical settings, such as autonomous…

The paper discusses an adaptive strategy to effectively control nonlinear manipulation motions of a dual arm robot (DAR) under system uncertainties including parameter variations, actuator nonlinearities and external disturbances. It is…

This letter proposes a convolutional neural network (CNN)-based adaptive controller wtih three notable features: 1) it determines control input directly from historical sensor data (in an end-to-end process); 2) it learns the desired…

In this paper, we present a contraction-guided adaptive partitioning algorithm for improving interval-valued robust reachable set estimates in a nonlinear feedback loop with a neural network controller and disturbances. Based on an estimate…

With the increasing number of compute components, failures in future exa-scale computer systems are expected to become more frequent. This motivates the study of novel resilience techniques. Here, we extend a recently proposed…

Systematic techniques to improve quality of deep neural networks (DNNs) are critical given the increasing demand for practical applications including safety-critical ones. The key challenge comes from the little controllability in updating…

In this paper, we synthesize two aperiodic-sampled deep neural network (DNN) control schemes, based on the closed-loop tracking stability guarantees. By means of the integral quadratic constraint coping with the input-output behaviour of…

In this paper, adaptive neural control (ANC) is investigated for a class of strict-feedback nonlinear stochastic systems with unknown parameters, unknown nonlinear functions and stochastic disturbances. The new controller of adaptive neural…