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  4. Unconstrained Parametrization of Dissipative and Contracting Neural Ordinary Differential Equations
 
conference paper

Unconstrained Parametrization of Dissipative and Contracting Neural Ordinary Differential Equations

Martinelli, Daniele  
•
Galimberti, Clara Lucia
•
Manchester, Ian R.
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January 1, 2023
2023 62Nd Ieee Conference On Decision And Control, Cdc
62nd IEEE Conference on Decision and Control (CDC)

In this work, we introduce and study a class of Deep Neural Networks (DNNs) in continuous-time. The proposed architecture stems from the combination of Neural Ordinary Differential Equations (Neural ODEs) with the model structure of recently introduced Recurrent Equilibrium Networks (RENs). We show how to endow our proposed NodeRENs with contractivity and dissipativity - crucial properties for robust learning and control. Most importantly, as for RENs, we derive parametrizations of contractive and dissipative NodeRENs which are unconstrained, hence enabling their learning for a large number of parameters. We validate the properties of NodeRENs, including the possibility of handling irregularly sampled data, in a case study in nonlinear system identification.

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Type
conference paper
Web of Science ID

WOS:001166433802084

Author(s)
Martinelli, Daniele  
Galimberti, Clara Lucia
Manchester, Ian R.
Furieri, Luca  
Ferrari-Trecate, Giancarlo
Corporate authors
IEEE
Date Issued

2023-01-01

Publisher

IEEE

Publisher place

New York

Published in
2023 62Nd Ieee Conference On Decision And Control, Cdc
ISBN of the book

979-8-3503-0124-3

Start page

3043

End page

3048

Subjects

Technology

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
SCI-STI-GFT  
Event nameEvent placeEvent date
62nd IEEE Conference on Decision and Control (CDC)

Singapore, SINGAPORE

DEC 13-15, 2023

FunderGrant Number

Swiss National Science Foundation (SNSF) under the NCCR Automation

51NF40 80545

SNSF

PZ00P2 208951

Available on Infoscience
April 3, 2024
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/206798
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