Benjamin Unger

Michael Kartmann, Mattia Manucci, Benjamin Unger et al.

We present a model predictive control (MPC) framework for linear switched evolution equations arising from a parabolic partial differential equation (PDE). First-order optimality conditions for the resulting finite-horizon optimal control problems are derived. The analysis allows for the incorporation of convex control constraints and sparse regularization. Then, to mitigate the computational burden of the MPC procedure, we employ Galerkin reduced-order modeling (ROM) techniques to obtain a low-dimensional surrogate for the state-adjoint systems. We derive recursive a-posteriori estimates for the ROM feedback law and the ROM-MPC closed-loop state and show that the ROM-MPC trajectory evolves within a neighborhood of the true MPC trajectory, whose size can be explicitly computed and is controlled by the quality of the ROM. Such estimates are then used to formulate two ROM-MPC algorithms with closed-loop certification.

Birgit Hillebrecht, Benjamin Unger

Prediction error quantification in machine learning has been left out of most methodological investigations of neural networks, for both purely data-driven and physics-informed approaches. Beyond statistical investigations and generic results on the approximation capabilities of neural networks, we present a rigorous upper bound on the prediction error of physics-informed neural networks. This bound can be calculated without the knowledge of the true solution and only with a priori available information about the characteristics of the underlying dynamical system governed by a partial differential equation. We apply this a posteriori error bound exemplarily to four problems: the transport equation, the heat equation, the Navier-Stokes equation and the Klein-Gordon equation.

Daniel Frank, Decky Aspandi Latif, Michael Muehlebach et al.

Recurrent neural networks are capable of learning the dynamics of an unknown nonlinear system purely from input-output measurements. However, the resulting models do not provide any stability guarantees on the input-output mapping. In this work, we represent a recurrent neural network as a linear time-invariant system with nonlinear disturbances. By introducing constraints on the parameters, we can guarantee finite gain stability and incremental finite gain stability. We apply this identification method to learn the motion of a four-degrees-of-freedom ship that is moving in open water and compare it against other purely learning-based approaches with unconstrained parameters. Our analysis shows that the constrained recurrent neural network has a lower prediction accuracy on the test set, but it achieves comparable results on an out-of-distribution set and respects stability conditions.

Mattia Manucci, Benjamin Unger

In this work, we study projection-based model order reduction (MOR) for switched linear systems (SLS) in control form, where the projection matrices are obtained from the solutions of generalized Lyapunov equations (GLEs). We investigate how numerical inaccuracies in solving the GLEs propagate through the MOR process and impact the accuracy and reliability of the resulting reduced-order model. This highlights the importance of accounting for such inaccuracies, motivating the introduction of a novel error bound to quantify and control the error in the approximation of the GLE solution. Moreover, classical balanced truncation error estimates for SLS are neither theoretically sound nor practically applicable, as they rely on restrictive assumptions requiring several linear matrix inequalities (LMIs) to be satisfied exactly by numerically computed GLE solutions. To address these limitations, we propose a new MOR framework for SLS, termed piecewise balanced reduction (PBR). The approach is based on solving multiple GLEs and constructing projection matrices that are piecewise constant in time. By extending the standard balanced truncation error bound for SLS, we show that the PBR framework effectively controls errors arising from inexact LMI satisfaction. In addition, the proposed error bound captures the influence of the piecewise constant in time projection matrices. Altogether, this makes the PBR approach applicable to a broad and flexible class of switched linear systems. Numerical experiments are presented to support the theoretical results.

Robert Altmann, Abdullah Mujahid, Benjamin Unger

For the iterative decoupling of elliptic-parabolic problems such as poroelasticity, we introduce time discretization schemes up to order $5$ based on the backward differentiation formulae. Its analysis combines techniques known from fixed-point iterations with the convergence analysis of the temporal discretization. As main result, we show that the convergence depends on the interplay between the time step size and the parameters for the contraction of the iterative scheme. Moreover, this connection is quantified explicitly, which allows for balancing the single error components. Several numerical experiments illustrate and validate the theoretical results, including a three-dimensional example from biomechanics.

Birgit Hillebrecht, Benjamin Unger

Rigorous error estimation is a fundamental topic in numerical analysis. With the increasing use of physics-informed neural networks (PINNs) for solving partial differential equations, several approaches have been developed to quantify the associated prediction error. In this work, we build upon a semigroup-based framework previously introduced by the authors for estimating the PINN error. While this estimator has so far been limited to academic examples - due to the need to compute quantities related to input-to-state stability - we extend its applicability to a significantly broader class of problems. This is accomplished by modifying the error bound and proposing numerical strategies to approximate the required stability parameters. The extended framework enables the certification of PINN predictions in more realistic scenarios, as demonstrated by a numerical study of Stokes flow around a cylinder.

Yarden As, Chengrui Qu, Benjamin Unger et al.

Deploying reinforcement learning (RL) safely in the real world is challenging, as policies trained in simulators must face the inevitable sim-to-real gap. Robust safe RL techniques are provably safe, however difficult to scale, while domain randomization is more practical yet prone to unsafe behaviors. We address this gap by proposing SPiDR, short for Sim-to-real via Pessimistic Domain Randomization -- a scalable algorithm with provable guarantees for safe sim-to-real transfer. SPiDR uses domain randomization to incorporate the uncertainty about the sim-to-real gap into the safety constraints, making it versatile and highly compatible with existing training pipelines. Through extensive experiments on sim-to-sim benchmarks and two distinct real-world robotic platforms, we demonstrate that SPiDR effectively ensures safety despite the sim-to-real gap while maintaining strong performance.

Silke Glas, Benjamin Unger

In this paper, we consider model order reduction (MOR) methods for problems with slowly decaying Kolmogorov $n$-widths as, e.g., certain wave-like or transport-dominated problems. To overcome this Kolmogorov barrier within MOR, nonlinear projections are used, which are often realized numerically using autoencoders. These autoencoders generally consist of a nonlinear encoder and a nonlinear decoder and involve costly training of the hyperparameters to obtain a good approximation quality of the reduced system. To facilitate the training process, we show that extending the to-be-reduced system and its corresponding training data makes it possible to replace the nonlinear encoder with a linear encoder without sacrificing accuracy, thus roughly halving the number of hyperparameters to be trained.

Birgit Hillebrecht, Benjamin Unger

Physics-informed neural networks (PINNs) are one popular approach to incorporate a priori knowledge about physical systems into the learning framework. PINNs are known to be robust for smaller training sets, derive better generalization problems, and are faster to train. In this paper, we show that using PINNs in comparison with purely data-driven neural networks is not only favorable for training performance but allows us to extract significant information on the quality of the approximated solution. Assuming that the underlying differential equation for the PINN training is an ordinary differential equation, we derive a rigorous upper limit on the PINN prediction error. This bound is applicable even for input data not included in the training phase and without any prior knowledge about the true solution. Therefore, our a posteriori error estimation is an essential step to certify the PINN. We apply our error estimator exemplarily to two academic toy problems, whereof one falls in the category of model-predictive control and thereby shows the practical use of the derived results.

Jonas Nicodemus, Jonas Kneifl, Jörg Fehr et al.

We discuss nonlinear model predictive control (NMPC) for multi-body dynamics via physics-informed machine learning methods. Physics-informed neural networks (PINNs) are a promising tool to approximate (partial) differential equations. PINNs are not suited for control tasks in their original form since they are not designed to handle variable control actions or variable initial values. We thus present the idea of enhancing PINNs by adding control actions and initial conditions as additional network inputs. The high-dimensional input space is subsequently reduced via a sampling strategy and a zero-hold assumption. This strategy enables the controller design based on a PINN as an approximation of the underlying system dynamics. The additional benefit is that the sensitivities are easily computed via automatic differentiation, thus leading to efficient gradient-based algorithms. Finally, we present our results using our PINN-based MPC to solve a tracking problem for a complex mechanical system, a multi-link manipulator.