Certified Feedforward Tracking for Unknown Nonlinear Systems via Invertible Neural Networks
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Electrical Engineering and Systems Science > Systems and Control
Title:Certified Feedforward Tracking for Unknown Nonlinear Systems via Invertible Neural Networks
Abstract:In this paper, we address the certification of datadriven feedforward control for periodic tracking of unknown nonlinear systems under partial state measurements. To this end, we adopt an invertible neural network (INN) as a surrogate for the unknown system. This choice allows us to bypass solving a nonconvex inversion problem, eliminating the associated inversion errors and reducing tracking error certification to a surrogate modeling problem. We then apply conformal prediction to provide finite-sample probabilistic guarantees on the surrogate modeling error which, through the derived tracking error bound, yield marginal certificates on feedforward tracking error. Finally, we demonstrate the approach on a DC-motor-driven mechanical load with nonlinear friction.
| Comments: | 6 pages, 6 figures |
| Subjects: | Systems and Control (eess.SY); Machine Learning (cs.LG) |
| Cite as: | arXiv:2608.06419 [eess.SY] |
| (or arXiv:2608.06419v1 [eess.SY] for this version) | |
| https://doi.org/10.48550/arXiv.2608.06419
arXiv-issued DOI via DataCite (pending registration)
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