arXiv:2603.29119eess.SYcs.LG2026-03

用神经算子解决延迟输入下的采样控制问题,兼顾精度与计算效率。

Sampling-Horizon Neural Operator Predictors for Nonlinear Control under Delayed Inputs

  • 设计两种神经算子预测反馈机制,处理延迟输入与采样状态
  • 在6连杆机械臂上实现精准跟踪,计算速度提升25倍
  • 揭示采样灵活性与近似误差间的权衡,指导工程实践

现代控制系统常面临输入延迟和采样状态测量的问题。传统预测反馈需在线求解隐式微分方程,计算成本过高;且通常假设状态持续可测,而实际中测量可能采样、不规则或因硬件故障暂时缺失。本文提出两种针对具有延迟输入和采样测量的非线性系统的神经算子预测反馈设计:第一种引入采样时域预测算子,将当前测量值与输入历史映射为下一采样区间内的预测状态轨迹;第二种仅近似延迟补偿预测器,并与测量间闭环流组合。前者要求均匀采样,残差界与算子近似误差成正比;后者支持非均匀但有界的采样,代价是放大近似误差,揭示了采样灵活性与近似敏感性的实用权衡。两种方案均建立显式的神经算子误差依赖型半全局实用稳定性。数值实验在6连杆非线性机械臂上验证了高精度跟踪与相比基线方法25倍的计算加速。

原文摘要 · Abstract (English)

Modern control systems frequently operate under input delays and sampled state measurements. A common delay-compensation strategy is predictor feedback; however, practical implementations require solving an implicit ODE online, resulting in intractable computational cost. Moreover, predictor formulations typically assume continuously available state measurements, whereas in practice measurements may be sampled, irregular, or temporarily missing due to hardware faults. In this work, we develop two neural-operator predictor-feedback designs for nonlinear systems with delayed inputs and sampled measurements. In the first design, we introduce a sampling-horizon prediction operator that maps the current measurement and input history to the predicted state trajectory over the next sampling interval. In the second design, the neural operator approximates only the delay-compensating predictor, which is then composed with the closed-loop flow between measurements. The first approach requires uniform sampling but yields residual bounds that scale directly with the operator approximation error. In contrast, the second accommodates non-uniform, but bounded sampling schedules at the cost of amplified approximation error, revealing a practical tradeoff between sampling flexibility and approximation sensitivity for the control engineer. For both schemes, we establish semi-global practical stability with explicit neural operator error-dependent bounds. Numerical experiments on a 6-link nonlinear robotic manipulator demonstrate accurate tracking and substantial computational speedup of 25$\times$ over a baseline approach.

控制理论神经算子延迟系统机器人

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