Model-free tracking control of complex dynamical trajectories with machine learning.

Nonlinear tracking control enabling a dynamical system to track a desired trajectory is fundamental to robotics, serving a wide range of civil and defense applications. In control engineering, designing tracking control requires complete knowledge of the system model and equations. We develop a model-free, machine-learning framework to control a two-arm robotic manipulator using only partially observed states, where the controller is realized by reservoir computing. Stochastic input is exploited for training, which consists of the observed partial state vector as the first and its immediate future as the second component so that the neural machine regards the latter as the future state of the former. In the testing (deployment) phase, the immediate-future component is replaced by the desired observational vector from the reference trajectory. We demonstrate the effectiveness of the control framework using a variety of periodic and chaotic signals, and establish its robustness against measurement noise, disturbances, and uncertainties.

Structural position vectors and symmetries in complex networks.

Symmetries, due to their fundamental importance to dynamical processes on networks, have attracted a great deal of current research. Finding all symmetric nodes in large complex networks typically relies on automorphism groups from algebraic-group theory, which are solvable in quasipolynomial time. We articulate a conceptually appealing and computationally extremely efficient approach to finding and characterizing all symmetric nodes by introducing a structural position vector (SPV) for each node in networks. We establish the mathematical result that symmetric nodes must have the same SPV value and demonstrate, using six representative complex networks from the real world, that all symmetric nodes in these networks can be found in linear time. Furthermore, the SPVs not only characterize the similarity of nodes but also quantify the nodal influences in propagation dynamics. A caveat is that the proved mathematical result relating the SPV values to nodal symmetries is not sufficient; i.e., nodes having the same SPV values may not be symmetric, which arises in regular networks or networks with a dominant regular component. We point out with an analysis that this caveat is, in fact, shared by the known existing approaches to finding symmetric nodes in the literature. We further argue, with the aid of a mathematical analysis, that our SPV method is generally effective for finding the symmetric nodes in real-world networks that typically do not have a dominant regular component. Our SPV-based framework, therefore, provides a physically intuitive and computationally efficient way to uncover, understand, and exploit symmetric structures in complex networks arising from real-world applications.

Metamorphoses and explosively remote synchronization in dynamical networks.

We uncover a phenomenon in coupled nonlinear networks with a symmetry: as a bifurcation parameter changes through a critical value, synchronization among a subset of nodes can deteriorate abruptly, and, simultaneously, perfect synchronization emerges suddenly among a different subset of nodes that are not directly connected. This is a synchronization metamorphosis leading to an explosive transition to remote synchronization. The finding demonstrates that an explosive onset of synchrony and remote synchronization, two phenomena that have been studied separately, can arise in the same system due to symmetry, providing another proof that the interplay between nonlinear dynamics and symmetry can lead to a surprising phenomenon in physical systems.