Learning Exactly Linearizable Deep Dynamics Models

Research on control using models based on machine-learning methods has now shifted to the practical engineering stage. Achieving high performance and theoretically guaranteeing the safety of the system is critical for such applications. In this paper, we propose a learning method for exactly linearizable dynamical models that can easily apply various control theories to ensure stability, reliability, etc., and to provide a high degree of freedom of expression. As an example, we present a design that combines simple linear control and control barrier functions. The proposed model is employed for the real-time control of an automotive engine, and the results demonstrate good predictive performance and stable control under constraints

Differentiable Sparse Optimal Control

This letter develops a framework for differentiating sparse optimal control inputs with respect to cost parameters. The difficulty lies in the non-smoothness induced by a sparsity-enhancing regularizer. To avoid this, we identify the optimal inputs as a unique zero point of a function using the proximal technique. This enables us to characterize the differentiability and employ the implicit function theorem. We also demonstrate the effectiveness of our approach using a numerical example of inverse optimal control

Structured Hammerstein-Wiener Model Learning for Model Predictive Control

This paper aims to improve the reliability of optimal control using models constructed by machine learning methods. Optimal control problems based on such models are generally non-convex and difficult to solve online. In this paper, we propose a model that combines the Hammerstein-Wiener model with input convex neural networks, which have recently been proposed in the field of machine learning. An important feature of the proposed model is that resulting optimal control problems are effectively solvable exploiting their convexity and partial linearity while retaining flexible modeling ability. The practical usefulness of the method is examined through its application to the modeling and control of an engine airpath system.Comment: 6 pages, 3 figure