Lyapunov Constrained Soft Actor-Critic (LC-SAC) using Koopman Operator Theory for Quadrotor Trajectory Tracking

Abstract

Reinforcement Learning (RL) has achieved remarkable success in solving complex sequential decision-making problems. However, its application to safety-critical physical systems remains constrained by the lack of stability guarantees. Standard RL algorithms prioritize reward maximization, often yielding policies that may induce oscillations or unbounded state divergence. There has been significant work in incorporating Lyapunov-based stability guarantees in RL algorithms with key challenges being selecting a candidate Lyapunov function, computational complexity by using excessive function approximators and conservative policies by incorporating stability criterion in the learning process. In this work we propose a novel Lyapunov-constrained Soft Actor-Critic (LC-SAC) algorithm using Koopman operator theory. We propose use of extended dynamic mode decomposition (EDMD) to produce a linear approximation of the system and use this approximation to derive a closed form solution for candidate Lyapunov function. This derived Lyapunov function is incorporated in the SAC algorithm to further provide guarantees for a policy that stabilizes the nonlinear system. The results are evaluated trajectory tracking of a 2D Quadrotor environment based on safe-control-gym. The proposed algorithm shows training convergence and decaying violations for Lyapunov stability criterion compared to baseline vanilla SAC algorithm. GitHub Repository: https://github.com/DhruvKushwaha/LC-SAC-Quadrotor-Trajectory-Tracking