Book ; Online: Neural Optimal Control
Concurrent System Identification and Control Learning with Neural ODE
2024
Abstract: 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 state ... ...
Abstract | 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 state trajectories. However, any inaccuracy in dynamics modeling will lead to sub-optimality in the resulting control function. To address this, we propose a neural ODE based method for controlling unknown dynamical systems, denoted as Neural Optimal Control (NOC), which combines dynamics identification and optimal control learning using a coupled neural ODE. Through an intriguing interplay between the two neural networks in coupled neural ODE structure, our model concurrently learns system dynamics as well as optimal controls that guides towards target states. Our experiments demonstrate the effectiveness of our model for learning optimal control of unknown dynamical systems. Comment: 9 pages, code open sourced in format of Google Colab notebooks; Resubmitted for adding missed references in the first submission |
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Keywords | Computer Science - Artificial Intelligence |
Publishing date | 2024-01-03 |
Publishing country | us |
Document type | Book ; Online |
Database | BASE - Bielefeld Academic Search Engine (life sciences selection) |
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