Neural Identification for Control

09/24/2020 ∙ by Priyabrata Saha, et al. ∙ 0

We present a new method for learning control law that stabilizes an unknown nonlinear dynamical system at an equilibrium point. We formulate a system identification task in a self-supervised learning setting that jointly learns a controller and corresponding stable closed-loop dynamics hypothesis. The input-output behavior of the unknown dynamical system under random control inputs is used as the supervising signal to train the neural network-based system model and the controller. The method relies on the Lyapunov stability theory to generate a stable closed-loop dynamics hypothesis and corresponding control law. We demonstrate our method on various nonlinear control problems such as n-Link pendulum balancing, pendulum on cart balancing, and wheeled vehicle path following.

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