相关论文: Hybrid Systems Neural Control with Region-of-Attra…

Learning-based neural network (NN) control policies have shown impressive empirical performance in a wide range of tasks in robotics and control. However, formal (Lyapunov) stability guarantees over the region-of-attraction (ROA) for NN…

Learning for control of dynamical systems with formal guarantees remains a challenging task. This paper proposes a learning framework to simultaneously stabilize an unknown nonlinear system with a neural controller and learn a neural…

We consider the problem of designing a machine learning-based model of an unknown dynamical system from a finite number of (state-input)-successor state data points, such that the model obtained is also suitable for optimal control design.…

This paper addresses the problem of Neural Network (NN) based adaptive stability certification in a dynamical system. The state-of-the-art methods, such as Neural Lyapunov Functions (NLFs), use NN-based formulations to assess the stability…

A method is presented to analyze the stability of feedback systems with neural network controllers. Two stability theorems are given to prove asymptotic stability and to compute an ellipsoidal inner-approximation to the region of attraction…

Stability certification and identifying a safe and stabilizing initial set are two important concerns in ensuring operational safety, stability, and robustness of dynamical systems. With the advent of machine-learning tools, these issues…

Stabilizing controller design and region of attraction (RoA) estimation are essential in nonlinear control. Moreover, it is challenging to implement a control Lyapunov function (CLF) in practice when only partial knowledge of the system is…

Achieving highly dynamic behaviors on humanoid robots, such as running, requires controllers that are both robust and precise, and hence difficult to design. Classical control methods offer valuable insight into how such systems can…

The lack of stability guarantee restricts the practical use of learning-based methods in core control problems in robotics. We develop new methods for learning neural control policies and neural Lyapunov critic functions in the model-free…

Finding a control Lyapunov function (CLF) in a dynamical system with a controller is an effective way to guarantee stability, which is a crucial issue in safety-concerned applications. Recently, deep learning models representing CLFs have…

Deep learning has had a far reaching impact in robotics. Specifically, deep reinforcement learning algorithms have been highly effective in synthesizing neural-network controllers for a wide range of tasks. However, despite this empirical…

This paper introduces an adaptive-neuro geometric control for a centralized multi-quadrotor cooperative transportation system, which enhances both adaptivity and disturbance rejection. Our strategy is to coactively tune the model parameters…

Estimating the Region of Attraction (RoA) for nonlinear dynamical systems is a fundamental problem in control theory, with direct implications for stability analysis and safe controller design. Traditional approaches rely on analytically…

This paper deals with hybrid systems (HS) with fractional order dynamics and their stability. The stability of two particular types of fractional order hybrid systems (FOHS), i.e., switching and reset control systems, is studied. Common…

We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…

Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with different controllers running at multiple time scales. Yet…

This paper explores the design of hybrid feedback for a class of affine nonlinear systems with topological constraints that prevent global asymptotic stability. A new hybrid control strategy is introduced, which differs conceptually from…

A method is presented to learn neural network (NN) controllers with stability and safety guarantees through imitation learning (IL). Convex stability and safety conditions are derived for linear time-invariant plant dynamics with NN…

Neural network controllers have become popular in control tasks thanks to their flexibility and expressivity. Stability is a crucial property for safety-critical dynamical systems, while stabilization of partially observed systems, in many…

Learning-based neural network (NN) control policies have shown impressive empirical performance. However, obtaining stability guarantees and estimates of the region of attraction of these learned neural controllers is challenging due to the…