Related papers: Approximation of Lyapunov Functions from Noisy Dat…
We propose a two-phase systematical framework for approximation algorithm design and analysis via Lyapunov function. The first phase consists of using Lyapunov function as an input and outputs a continuous-time approximation algorithm with…
We propose a deep neural network architecture and a training algorithm for computing approximate Lyapunov functions of systems of nonlinear ordinary differential equations. Under the assumption that the system admits a compositional…
Polyhedral Lyapunov functions can approximate any norm arbitrarily well. Because of this, they are used to study the stability of linear time varying and linear parameter varying systems without being conservative. However, the…
In this paper, we address the problem of discovering maximal Lyapunov functions, as a means of determining the region of attraction of a dynamical system. To this end, we design a novel neural network architecture, which we prove to be a…
In this paper, we consider the fundamental problem of approximation of functions on a low-dimensional manifold embedded in a high-dimensional space, with noise affecting both in the data and values of the functions. Due to the curse of…
This article presents a novel numerically tractable technique for synthesizing Lyapunov functions for equilibria of nonlinear vector fields. In broad strokes, corresponding to an isolated equilibrium point of a given vector field, a…
We study convergence of nonlinear systems in the presence of an `almost Lyapunov' function which, unlike the classical Lyapunov function, is allowed to be nondecreasing---and even increasing---on a nontrivial subset of the phase space.…
In this article, we present a new scheme that approximates unknown sensorimotor models of robots by using feedback signals only. The formulation of the uncalibrated sensor-based regulation problem is first formulated, then, we develop a…
We develop a versatile deep neural network architecture, called Lyapunov-Net, to approximate Lyapunov functions of dynamical systems in high dimensions. Lyapunov-Net guarantees positive definiteness, and thus it can be easily trained to…
Computing Lyapunov vectors from partial and noisy observations is a challenging problem. We propose a method using data assimilation to approximate the Lyapunov vectors using the estimate of the underlying trajectory obtained from the…
Approximation of scattered data is often a task in many engineering problems. The Radial Basis Function (RBF) approximation is appropriate for large scattered datasets in d-dimensional space. It is non-separable approximation, as it is…
A main drawback of classical Tikhonov regularization is that often the parameters required to apply theoretical results, e.g., the smoothness of the sought-after solution and the noise level, are unknown in practice. In this paper we…
This paper presents a method to approximate regions of attraction of unknown nonlinear dynamical systems from data. Assuming point-wise evaluations of the vector field and known Lipschitz bounds, a polyhedral uncertainty set of admissible…
We present an efficient and validated method for approximating the stationary measures of random dynamical systems with smooth additive noise. The approach leverages the strong regularizing properties of the associated transfer operator…
Recently, Petrik et al. demonstrated that L1Regularized Approximate Linear Programming (RALP) could produce value functions and policies which compared favorably to established linear value function approximation techniques like LSPI.…
Despite a variety of available techniques the issue of the proper regularization parameter choice for inverse problems still remains one of the biggest challenges. The main difficulty lies in constructing a rule, allowing to compute the…
While stability analysis is a mainstay for control science, especially computing regions of attraction of equilibrium points, until recently most stability analysis tools always required explicit knowledge of the model or a high-fidelity…
This paper addresses the problem of approximating a function of bounded variation from its scattered data. Radial basis function(RBF) interpolation methods are known to approximate only functions in their native spaces, and to date, there…
Approximation of scattered data is often a task in many engineering problems. The Radial Basis Function (RBF) approximation is appropriate for large scattered (unordered) datasets in d-dimensional space. This approach is useful for a higher…
In the context of data-driven control of nonlinear systems, many approaches lack of rigorous guarantees, call for nonconvex optimization, or require knowledge of a function basis containing the system dynamics. To tackle these drawbacks, we…