Youla-REN: Learning Nonlinear Feedback Policies with Robust Stability Guarantees

12/02/2021
by   Ruigang Wang, et al.
0

This paper presents a parameterization of nonlinear controllers for uncertain systems building on a recently developed neural network architecture, called the recurrent equilibrium network (REN), and a nonlinear version of the Youla parameterization. The proposed framework has "built-in" guarantees of stability, i.e., all policies in the search space result in a contracting (globally exponentially stable) closed-loop system. Thus, it requires very mild assumptions on the choice of cost function and the stability property can be generalized to unseen data. Another useful feature of this approach is that policies are parameterized directly without any constraints, which simplifies learning by a broad range of policy-learning methods based on unconstrained optimization (e.g. stochastic gradient descent). We illustrate the proposed approach with a variety of simulation examples.

READ FULL TEXT

page 1

page 2

page 3

page 4

research
12/08/2021

Learning over All Stabilizing Nonlinear Controllers for a Partially-Observed Linear System

We propose a parameterization of nonlinear output feedback controllers f...
research
03/22/2022

Neural System Level Synthesis: Learning over All Stabilizing Policies for Nonlinear Systems

We address the problem of designing stabilizing control policies for non...
research
04/12/2023

Learning Over All Contracting and Lipschitz Closed-Loops for Partially-Observed Nonlinear Systems

This paper presents a policy parameterization for learning-based control...
research
04/24/2023

Synthesizing Stable Reduced-Order Visuomotor Policies for Nonlinear Systems via Sums-of-Squares Optimization

We present a method for synthesizing dynamic, reduced-order output-feedb...
research
04/07/2023

A modular framework for stabilizing deep reinforcement learning control

We propose a framework for the design of feedback controllers that combi...
research
03/31/2022

Synthesis of Stabilizing Recurrent Equilibrium Network Controllers

We propose a parameterization of a nonlinear dynamic controller based on...
research
01/03/2022

Revisiting PGD Attacks for Stability Analysis of Large-Scale Nonlinear Systems and Perception-Based Control

Many existing region-of-attraction (ROA) analysis tools find difficulty ...

Please sign up or login with your details

Forgot password? Click here to reset