相关论文: Analytical Lyapunov Function Discovery: An RL-base…

Control Lyapunov functions are traditionally used to design a controller which ensures convergence to a desired state, yet deriving these functions for nonlinear systems remains a complex challenge. This paper presents a novel,…

We propose an automatic and formally sound method for synthesising Lyapunov functions for the asymptotic stability of autonomous non-linear systems. Traditional methods are either analytical and require manual effort or are numerical but…

We propose new methods for learning control policies and neural network Lyapunov functions for nonlinear control problems, with provable guarantee of stability. The framework consists of a learner that attempts to find the control and…

Establishing stability certificates for closed-loop systems under reinforcement learning (RL) policies is essential to move beyond empirical performance and offer guarantees of system behavior. Classical Lyapunov methods require a strict…

We present a technique for learning control Lyapunov (potential) functions, which are used in turn to synthesize controllers for nonlinear dynamical systems. The learning framework uses a demonstrator that implements a black-box, untrusted…

We present a technique for learning control Lyapunov-like functions, which are used in turn to synthesize controllers for nonlinear dynamical systems that can stabilize the system, or satisfy specifications such as remaining inside a safe…

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…

In many real-world reinforcement learning (RL) problems, besides optimizing the main objective function, an agent must concurrently avoid violating a number of constraints. In particular, besides optimizing performance it is crucial to…

While ensuring stability for linear systems is well understood, it remains a major challenge for nonlinear systems. A general approach in such cases is to compute a combination of a Lyapunov function and an associated control policy.…

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…

Transient stability of power systems is becoming increasingly important because of the growing integration of renewable resources. These resources lead to a reduction in mechanical inertia but also provide increased flexibility in frequency…

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…

We propose a learning-based method for Lyapunov stability analysis of piecewise affine dynamical systems in feedback with piecewise affine neural network controllers. The proposed method consists of an iterative interaction between a…

Learning controllers merely based on a performance metric has been proven effective in many physical and non-physical tasks in both control theory and reinforcement learning. However, in practice, the controller must guarantee some notion…

Neural-based, data-driven analysis and control of dynamical systems have been recently investigated and have shown great promise, e.g. for safety verification or stability analysis. Indeed, not only do neural networks allow for an entirely…

We propose a sampling-based approach to learn Lyapunov functions for a class of discrete-time autonomous hybrid systems that admit a mixed-integer representation. Such systems include autonomous piecewise affine systems, closed-loop…

This paper considers a wide class of smooth continuous dynamic nonlinear systems (control objects) with a measurable vector of state. The problem is to find a special function (Lyapunov function), which in the framework of the second…

As more inverter-connected renewable resources are integrated into the grid, frequency stability may degrade because of the reduction in mechanical inertia and damping. A common approach to mitigate this degradation in performance is to use…

Despite their spectacular progress, language models still struggle on complex reasoning tasks, such as advanced mathematics. We consider a long-standing open problem in mathematics: discovering a Lyapunov function that ensures the global…

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…