Robust Data-Driven Neuro-Adaptive Observers with Lipschitz Activation Functions

Ankush Chakrabarty, Ali Zemouche, Rajesh Rajamani, Mouhacine Benosman

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

While the use of neural networks for learning has gained traction in control and system identification problems, their use in data-driven estimator design is not as prevalent. Prior art on neuro-adaptive observers limit the type of activation functions to radial basis function networks and provide conservative bounds on the resulting observer estimation error because they leverage boundedness of the activation functions rather than exploiting their underlying structure. This paper proposes the use of Lipschitz activation functions in the neuroadaptive observer: utilizing the Lipschitz constants of these activations simplifies the data-driven observer design procedure via recently discovered LMI conditions. Furthermore, in spite of measurement noise and approximation error, pre-computable robust stability guarantees are provided on the resulting state estimation error.

Original languageEnglish (US)
Title of host publication2019 IEEE 58th Conference on Decision and Control, CDC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2862-2867
Number of pages6
ISBN (Electronic)9781728113982
DOIs
StatePublished - Dec 2019
Event58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France
Duration: Dec 11 2019Dec 13 2019

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2019-December
ISSN (Print)0743-1546

Conference

Conference58th IEEE Conference on Decision and Control, CDC 2019
CountryFrance
CityNice
Period12/11/1912/13/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.

Keywords

  • Data-driven
  • adaptive systems
  • function approximation
  • linear matrix inequalities
  • machine learning
  • neural networks
  • nonlinear systems

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