Related papers: Physics-Informed Neural Network Lyapunov Functions…
The search for Lyapunov functions is a crucial task in the analysis of nonlinear systems. In this paper, we present a physics-informed neural network (PINN) approach to learning a Lyapunov function that is nearly maximal for a given stable…
While there has been increasing interest in using neural networks to compute Lyapunov functions, verifying that these functions satisfy the Lyapunov conditions and certifying stability regions remain challenging due to the curse of…
Leveraging a stochastic extension of Zubov's equation, we develop a physics-informed neural network (PINN) approach for learning a neural Lyapunov function that captures the largest probabilistic region of attraction (ROA) for stochastic…
This paper deals with a special type of Lyapunov functions, namely the solution of Zubov's equation. Such a function can be used to characterize the domain of attraction for systems of ordinary differential equations. We derive and prove an…
In this paper, we describe a lightweight Python framework that provides integrated learning and verification of neural Lyapunov functions for stability analysis. The proposed tool, named LyZNet, learns neural Lyapunov functions using…
Verifying stability and safety guarantees for nonlinear systems has received considerable attention in recent years. This property serves as a fundamental building block for specifying more complex system behaviors and control objectives.…
Designing control policies for stabilization tasks with provable guarantees is a long-standing problem in nonlinear control. A crucial performance metric is the size of the resulting region of attraction, which essentially serves as a…
The region of attraction is a key metric of the robustness of systems. This paper addresses the numerical solution of the generalized Zubov's equation, which produces a special Lyapunov function characterizing the robust region of…
Control Lyapunov functions are a central tool in the design and analysis of stabilizing controllers for nonlinear systems. Constructing such functions, however, remains a significant challenge. In this paper, we investigate physics-informed…
Deep learning methods have been widely used in robotic applications, making learning-enabled control design for complex nonlinear systems a promising direction. Although deep reinforcement learning methods have demonstrated impressive…
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…
When learning to perform motor tasks in a simulated environment, neural networks must be allowed to explore their action space to discover new potentially viable solutions. However, in an online learning scenario with physical hardware,…
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 propose a neural network-based meta-learning method to efficiently solve partial differential equation (PDE) problems. The proposed method is designed to meta-learn how to solve a wide variety of PDE problems, and uses the knowledge for…
Physics Informed Neural Networks is a numerical method which uses neural networks to approximate solutions of partial differential equations. It has received a lot of attention and is currently used in numerous physical and engineering…
A numerical analysis for the fully discrete approximation of an operator Lyapunov equation related to linear SPDEs (stochastic partial differential equations) driven by multiplicative noise is considered. The discretization of the Lyapunov…
Despite Neural Ordinary Differential Equations (Neural ODEs) exhibiting intrinsic robustness, existing methods often impose Lyapunov stability for formal guarantees. However, these methods still face a fundamental accuracy-robustness…
Many core problems in nonlinear systems analysis and control can be recast as solving partial differential equations (PDEs) such as Lyapunov and Hamilton-Jacobi-Bellman (HJB) equations. Physics-informed neural networks (PINNs) have emerged…
Recent research has used deep learning to develop partial differential equation (PDE) models in science and engineering. The functional form of the PDE is determined by a neural network, and the neural network parameters are calibrated to…
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…