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

Deep Learning, and in particular, Deep Neural Network (DNN) is nowadays widely used in many scenarios, including safety-critical applications such as autonomous driving. In this context, besides energy efficiency and performance,…

Fault-aware retraining has emerged as a prominent technique for mitigating permanent faults in Deep Neural Network (DNN) hardware accelerators. However, retraining leads to huge overheads, specifically when used for fine-tuning large DNNs…

This paper proposes a nonlinear control architecture for flexible aircraft simultaneous trajectory tracking and load alleviation. By exploiting the control redundancy, the gust and maneuver loads are alleviated without degrading the…

The functionality of electronic circuits can be seriously impaired by the occurrence of dynamic hardware faults. Particularly, for digital ultra low-power systems, a reduced safety margin can increase the probability of dynamic failures.…

In this paper, we propose a computationally efficient framework for interval reachability of systems with neural network controllers. Our approach leverages inclusion functions for the open-loop system and the neural network controller to…

In recent years, deep learning has been connected with optimal control as a way to define a notion of a continuous underlying learning problem. In this view, neural networks can be interpreted as a discretization of a parametric Ordinary…

This letter presents a new intelligent control scheme for the accurate trajectory tracking of flexible link manipulators. The proposed approach is mainly based on a sliding mode controller for underactuated systems with an embedded…

In the development of advanced driver-assistance systems (ADAS) and autonomous vehicles, machine learning techniques that are based on deep neural networks (DNNs) have been widely used for vehicle perception. These techniques offer…

This article presents an adaptive nonlinear delayed feedback control scheme for stabilizing the unstable periodic orbit of unknown fractional-order chaotic systems. The proposed control framework uses the Lyapunov approach and sliding mode…

We propose a simple, practical and intuitive approach to improve the performance of a conventional controller in uncertain environments using deep reinforcement learning while maintaining safe operation. Our approach is motivated by the…

Processing visual data on mobile devices has many applications, e.g., emergency response and tracking. State-of-the-art computer vision techniques rely on large Deep Neural Networks (DNNs) that are usually too power-hungry to be deployed on…

Interpreting the inner function of neural networks is crucial for the trustworthy development and deployment of these black-box models. Prior interpretability methods focus on correlation-based measures to attribute model decisions to…

In this work, we consider the adaptive nonlinear control problem for strict feedback nonlinear systems, where the functions that determine the dynamics of the system are completely unknown. We assume that certain upper bounds for the…

The mechanical simplicity, hover capabilities, and high agility of quadrotors lead to a fast adaption in the industry for inspection, exploration, and urban aerial mobility. On the other hand, the unstable and underactuated dynamics of…

Neural networks are increasingly used as fast surrogate models across various domains, but unconstrained predictions can violate physical, operational, or safety requirements. We propose SnareNet, a feasibility-controlled architecture to…

Deploying deep neural networks (DNNs) in real-world environments poses challenges due to faults that can manifest in physical hardware from radiation, aging, and temperature fluctuations. To address this, previous works have focused on…

This paper solves the problem of regulating the rotor speed tracking error for wind turbines in the full-load region by an effective robust-adaptive control strategy. The developed controller compensates for the uncertainty in the control…

In recent years, imitation learning using neural networks has enabled robots to perform flexible tasks. However, since neural networks operate in a feedforward structure, they do not possess a mechanism to compensate for output errors. To…

Autonomous systems, such as self-driving cars and drones, have made significant strides in recent years by leveraging visual inputs and machine learning for decision-making and control. Despite their impressive performance, these…

In a previous work we have detailed the requirements to obtain a maximal performance benefit by implementing fully connected deep neural networks (DNN) in form of arrays of resistive devices for deep learning. This concept of Resistive…