相关论文: NeuroDOB: A Deep Neural Observer-Based Controller …

This paper presents a novel neural operator learning framework for designing boundary control to mitigate stop-and-go congestion on freeways. The freeway traffic dynamics are described by second-order coupled hyperbolic partial differential…

An accurate vehicle dynamic model is the key to bridge the gap between simulation and real road test in autonomous driving. In this paper, we present a Dynamic model-Residual correction model Framework (DRF) for vehicle dynamic modeling. On…

We propose a novel, brain-inspired deep neural network model known as the Deep Oscillatory Neural Network (DONN). Deep neural networks like the Recurrent Neural Networks indeed possess sequence processing capabilities but the internal…

This paper considers the problem of minimal control inputs to affect the system states such that the resulting system is structurally controllable. This problem and the dual problem of minimal observability are claimed to have no…

A neural networks (NN) compensator is designed for systems with multi-segment piecewise-linear nonlinearities. The compensator uses the back stepping technique with NN for inverting the multi-segment piecewise-linear nonlinearities in the…

Currently decision making is one of the biggest challenges in autonomous driving. This paper introduces a method for safely navigating an autonomous vehicle in highway scenarios by combining deep Q-Networks and insight from control theory.…

Controlling continuous-time dynamical systems is generally a two step process: first, identify or model the system dynamics with differential equations, then, minimize the control objectives to achieve optimal control function and optimal…

In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law is…

Characterizing the cellular properties of neurons is fundamental to understanding their function in the brain. In this quest, the generation of bio-realistic models is central towards integrating multimodal cellular data sets and…

This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. The strategy includes kinematic steering and velocity dynamics learning…

In robotics, contemporary strategies are learning-based, characterized by a complex black-box nature and a lack of interpretability, which may pose challenges in ensuring stability and safety. To address these issues, we propose integrating…

The purpose of this study is to develop a computationally efficient deep learning based control framework for high degree of freedom exoskeleton robots to address the real time computational limitations associated with conventional model…

How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges:…

Bio-inspired sensorimotor control systems may be appealing to roboticists who try to solve problems of multiDOF humanoids and human-robot interactions. This paper presents a simple posture control concept from neuroscience, called…

In autonomous driving, perceiving the driving behaviors of surrounding agents is important for the ego-vehicle to make a reasonable decision. In this paper, we propose a neural network model based on trajectories information for driving…

This paper presents a novel Sliding Mode Control (SMC) algorithm to handle mismatched uncertainties in systems via a novel Self-Learning Disturbance Observer (SLDO). A computationally efficient SLDO is developed within a framework of…

Collision-free motion is essential for mobile robots. Most approaches to collision-free and efficient navigation with wheeled robots require parameter tuning by experts to obtain good navigation behavior. This study investigates the…

In this paper, we introduce a novel architecture to connecting adaptive learning and neural networks into an arbitrary machine's control system paradigm. Two consecutive Recurrent Neural Networks (RNNs) are used together to accurately model…

This paper presents a novel model-reference reinforcement learning control method for uncertain autonomous surface vehicles. The proposed control combines a conventional control method with deep reinforcement learning. With the conventional…

This work proposes a unified control architecture that couples a Reinforcement Learning (RL)-driven controller with a disturbance-rejection Extended State Observer (ESO), complemented by an Event-Triggered Mechanism (ETM) to limit…