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Full-Text Articles in Engineering
Lifelong Learning-Based Multilayer Neural Network Control Of Nonlinear Continuous-Time Strict-Feedback Systems, Irfan Ahmad Ganie, S. (Sarangapani) Jagannathan
Lifelong Learning-Based Multilayer Neural Network Control Of Nonlinear Continuous-Time Strict-Feedback Systems, Irfan Ahmad Ganie, S. (Sarangapani) Jagannathan
Electrical and Computer Engineering Faculty Research & Creative Works
In This Paper, We Investigate Lifelong Learning (LL)-Based Tracking Control for Partially Uncertain Strict Feedback Nonlinear Systems with State Constraints, employing a Singular Value Decomposition (SVD) of the Multilayer Neural Networks (MNNs) Activation Function based Weight Tuning Scheme. the Novel SVD-Based Approach Extends the MNN Weight Tuning to (Formula Presented.) Layers. a Unique Online LL Method, based on Tracking Error, is Integrated into the MNN Weight Update Laws to Counteract Catastrophic Forgetting. to Adeptly Address Constraints for Safety Assurances, Taking into Account the Effects Caused by Disturbances, We Utilize a Time-Varying Barrier Lyapunov Function (TBLF) that Ensures a Uniformly Ultimately …
Lifelong Deep Learning-Based Control Of Robot Manipulators, Irfan Ganie, Jagannathan Sarangapani
Lifelong Deep Learning-Based Control Of Robot Manipulators, Irfan Ganie, Jagannathan Sarangapani
Electrical and Computer Engineering Faculty Research & Creative Works
This study proposes a lifelong deep learning control scheme for robotic manipulators with bounded disturbances. This scheme involves the use of an online tunable deep neural network (DNN) to approximate the unknown nonlinear dynamics of the robot. The control scheme is developed by using a singular value decomposition-based direct tracking error-driven approach, which is utilized to derive the weight update laws for the DNN. To avoid catastrophic forgetting in multi-task scenarios and to ensure lifelong learning (LL), a novel online LL scheme based on elastic weight consolidation is included in the DNN weight-tuning laws. Our results demonstrate that the resulting …
Lifelong Learning Control Of Nonlinear Systems With Constraints Using Multilayer Neural Networks With Application To Mobile Robot Tracking, Irfan Ganie, S. (Sarangapani) Jagannathan
Lifelong Learning Control Of Nonlinear Systems With Constraints Using Multilayer Neural Networks With Application To Mobile Robot Tracking, Irfan Ganie, S. (Sarangapani) Jagannathan
Electrical and Computer Engineering Faculty Research & Creative Works
This Paper Presents a Novel Lifelong Multilayer Neural Network (MNN) Tracking Approach for an Uncertain Nonlinear Continuous-Time Strict Feedback System that is Subject to Time-Varying State Constraints. the Proposed Method Uses a Time-Varying Barrier Function to Accommodate the Constraints Leading to the Development of an Efficient Control Scheme. the Unknown Dynamics Are Approximated using a MNN, with Weights Tuned using a Singular Value Decomposition (SVD)-Based Technique. an Online Lifelong Learning (LL) based Elastic Weight Consolidation (EWC) Scheme is Also Incorporated to Alleviate the Issue of Catastrophic Forgetting. the Stability of the overall Closed-Loop System is Analyzed using Lyapunov Analysis. the …
Continual Learning-Based Optimal Output Tracking Of Nonlinear Discrete-Time Systems With Constraints: Application To Safe Cargo Transfer, Behzad Farzanegan, S. (Sarangapani) Jagannathan
Continual Learning-Based Optimal Output Tracking Of Nonlinear Discrete-Time Systems With Constraints: Application To Safe Cargo Transfer, Behzad Farzanegan, S. (Sarangapani) Jagannathan
Electrical and Computer Engineering Faculty Research & Creative Works
This Paper Addresses a Novel Lifelong Learning (LL)-Based Optimal Output Tracking Control of Uncertain Non-Linear Affine Discrete-Time Systems (DT) with State Constraints. First, to Deal with Optimal Tracking and Reduce the Steady State Error, a Novel Augmented System, Including Tracking Error and its Integral Value and Desired Trajectory, is Proposed. to Guarantee Safety, an Asymmetric Barrier Function (BF) is Incorporated into the Utility Function to Keep the Tracking Error in a Safe Region. Then, an Adaptive Neural Network (NN) Observer is Employed to Estimate the State Vector and the Control Input Matrix of the Uncertain Nonlinear System. Next, an NN-Based …
Continual Reinforcement Learning Formulation For Zero-Sum Game-Based Constrained Optimal Tracking, Behzad Farzanegan, Sarangapani Jagannathan
Continual Reinforcement Learning Formulation For Zero-Sum Game-Based Constrained Optimal Tracking, Behzad Farzanegan, Sarangapani Jagannathan
Electrical and Computer Engineering Faculty Research & Creative Works
This study provides a novel reinforcement learning-based optimal tracking control of partially uncertain nonlinear discrete-time (DT) systems with state constraints using zero-sum game (ZSG) formulation. To address optimal tracking, a novel augmented system consisting of tracking error and its integral value, along with an uncertain desired trajectory, is constructed. A barrier function (BF) with a tradeoff factor is incorporated into the cost function to keep the state trajectories to remain within a compact set and to balance safety with optimality. Next, by using the modified value functional, the ZSG formulation is introduced wherein an actor–critic neural network (NN) framework is …
Continual Optimal Adaptive Tracking Of Uncertain Nonlinear Continuous-Time Systems Using Multilayer Neural Networks, Irfan Ganie, S. (Sarangapani) Jagannathan
Continual Optimal Adaptive Tracking Of Uncertain Nonlinear Continuous-Time Systems Using Multilayer Neural Networks, Irfan Ganie, S. (Sarangapani) Jagannathan
Electrical and Computer Engineering Faculty Research & Creative Works
This study provides a lifelong integral reinforcement learning (LIRL)-based optimal tracking scheme for uncertain nonlinear continuous-time (CT) systems using multilayer neural network (MNN). In this LIRL framework, the optimal control policies are generated by using both the critic neural network (NN) weights and single-layer NN identifier. The critic MNN weight tuning is accomplished using an improved singular value decomposition (SVD) of its activation function gradient. The NN identifier, on the other hand, provides the control coefficient matrix for computing the control policies. An online weight velocity attenuation (WVA)-based consolidation scheme is proposed wherein the significance of weights is derived by …