Domain-aware Control-oriented Neural Models for Autonomous Underwater Vehicles

Conference · Thu Mar 16 00:00:00 EDT 2023

DOI:https://doi.org/10.1016/j.ifacol.2023.02.039· OSTI ID:1988117

Shaw Cortez, Wenceslao E. ^[1]; Vasisht, Soumya S. ^[1]; Tuor, Aaron R. ^[1]; Drgona, Jan ^[1]; Vrabie, Draguna L. ^[1]

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1. BATTELLE (PACIFIC NW LAB)

Conventional physics-based modeling is a time-consuming bottleneck in control design for complex nonlinear systems like autonomous underwater vehicles (AUVs). In contrast, purely data-driven models, require a large number of observations and lack operational guarantees for safety-critical systems. Data-driven models leveraging available partially characterized dynamics have potential to provide reliable systems models in a typical data-limited scenario for high value complex systems, thereby avoiding months of expensive expert modeling time. In this work we explore this middle-ground between expert-modeled and pure data-driven modeling. We present control-oriented parametric models with varying levels of domain-awareness that exploit known system structure and prior physics knowledge to create constrained deep neural dynamical system models. We employ universal differential equations to construct data-driven blackbox and graybox representations of the AUV dynamics. In addition, we explore a hybrid formulation that explicitly models the residual error related to imperfect graybox models. We compare the prediction performance of the learned models for different distributions of initial conditions and control inputs to assess their suitability for control.

• Research Organization: Pacific Northwest National Laboratory (PNNL), Richland, WA (United States)
• Sponsoring Organization: USDOE
• DOE Contract Number: AC05-76RL01830
• OSTI ID: 1988117
• Report Number(s): PNNL-SA-175459
• Resource Relation: Journal Volume: 56; Journal Issue: 1; Conference: 12th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2022), January 4-6, 2023, Canberra, Australia. IFAC-PapersOnline
• Country of Publication: Netherlands
• Language: English