Neural Controller for Incremental Stability of Unknown Continuous-time Systems

摘要

This work primarily focuses on synthesizing a controller that guarantees an unknown continuous-time system to be incrementally input-to-state stable ($δ$-ISS). In this context, the notion of $δ$-ISS control Lyapunov function ($δ$-ISS-CLF) for the continuous-time system is introduced. Combined with the controller, the $δ$-ISS-CLF guarantees that the system is incrementally stable. As the paper deals with unknown dynamical systems, the controller as well as the $δ$-ISS-CLF are parametrized using neural networks. The data set used to train the neural networks is generated from the state space of the system by proper sampling. Now, to give a formal guarantee that the controller makes the system incrementally stable, we develop a validity condition by having some Lipschitz continuity assumptions and incorporate the condition into the training framework to ensure a provable correctness guarantee at the end of the training process. Finally, we demonstrate the effectiveness of the proposed approach through several case studies: a scalar system with a non-affine, non-polynomial structure, a one-link manipulator system, a nonlinear Moore-Greitzer model of a jet engine, a magnetic levitator system and a rotating rigid spacecraft model.