Invited talk
in
Workshop: Foundations of Reinforcement Learning and Control: Connections and Perspectives

Miroslav Krstic: Offline and Online Learning for Control

Miroslav Krstic

2024 Invited talk
in
Workshop: Foundations of Reinforcement Learning and Control: Connections and Perspectives

Abstract

Abstract: The belief that bringing ML into feedback stabilization problems means giving up on stability guarantees, while quite widespread, is unfounded. Adaptive control of complex systems, such as PDEs with unknown parameters, is an exemplary setting in which operator learning enables control implementation with stability guarantees. The exact ADAPTIVE backstepping designs, which require a solution of a PDE at each time step, for each new online-learned estimate of the system’s parameter function, are emulated with a thousandfold speedup using offline-learned DeepONet approximators. Stability is guaranteed using error estimates for the DeepONet approximations of the backstepping operators combined with Lyapunov theory for PDEs. Designs, theorems, and numerical tests for both hyperbolic and parabolic PDEs are presented. This is work with Bhan, Shi, and Lamarque.

Speaker

Miroslav Krstic

Miroslav Krstic is a researcher in control theory and engineering, with interests in adaptive, nonlinear, and stochastic control, extremum seeking, and control of PDEs and delay systems. On these topics, he has coauthored 18 books and over 450 journal papers. Krstic is Distinguished Professor of Mechanical and Aerospace Engineering at UC San Diego. As a graduate student, Krstic won the UC Santa Barbara best dissertation award and student best paper awards at CDC and ACC. Krstic is Fellow of IEEE, IFAC, ASME, SIAM, AAAS, IET (UK), AIAA (Assoc. Fellow), foreign member of the Serbian Academy of Sciences and Arts, and of the Academy of Engineering of Serbia. He has received the Richard E. Bellman Control Heritage Award, Bode Lecture Prize, SIAM Reid Prize, ASME Oldenburger Medal, Nyquist Lecture Prize, Paynter Outstanding Investigator Award, Ragazzini Education Award, IFAC Nonlinear Control Systems Award, IFAC Ruth Curtain Distributed Parameter Systems Award, IFAC Adaptive and Learning Systems Award, Chestnut textbook prize, AV Balakrishnan Award for the Mathematics of Systems, Control Systems Society Distinguished Member Award, the PECASE, NSF Career, and ONR Young Investigator awards, the Schuck (’96 and ’19) and Axelby paper prizes, and the first UCSD Research Award given to an engineer. Krstic was recipient of the Springer Visiting Professorship at UC Berkeley, the Distinguished Visiting Fellowship of the Royal Academy of Engineering, the Invitation Fellowship of the Japan Society for the Promotion of Science, and four honorary professorships outside of the United States. He has served as Editor-in-Chief of Systems & Control Letters, Senior Editor in Automatica and IEEE Transactions on Automatic Control, editor of two Springer book series, and Vice President for Technical Activities of the IEEE Control Systems Society, and chair of the IEEE CSS Fellow Committee. Krstic holds the Alspach endowed chair, serves as the founding director of the Center for Control Systems and Dynamics, and as Senior Associate Vice Chancellor for Research at UCSD.

Video

Chat is not available.