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A Control Lyapunov Perspective on Episodic Learning via Projection to State Stability

Taylor, Andrew J. and Dorobantu, Victor D. and Krishnamoorthy, Meera and Le, Hoang M. and Yue, Yisong and Ames, Aaron D. (2019) A Control Lyapunov Perspective on Episodic Learning via Projection to State Stability. In: 2019 IEEE 58th Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 1448-1455. ISBN 978-1-7281-1398-2. https://resolver.caltech.edu/CaltechAUTHORS:20190327-085842025

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Abstract

The goal of this paper is to understand the impact of learning on control synthesis from a Lyapunov function perspective. In particular, rather than consider uncertainties in the full system dynamics, we employ Control Lyapunov Functions (CLFs) as low-dimensional projections. To understand and characterize the uncertainty that these projected dynamics introduce in the system, we introduce a new notion: Projection to State Stability (PSS). PSS can be viewed as a variant of Input to State Stability defined on projected dynamics, and enables characterizing robustness of a CLF with respect to the data used to learn system uncertainties. We use PSS to bound uncertainty in affine control, and demonstrate that a practical episodic learning approach can use PSS to characterize uncertainty in the CLF for robust control synthesis.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/CDC40024.2019.9029226DOIArticle
https://arxiv.org/abs/1903.07214arXivDiscussion Paper
ORCID:
AuthorORCID
Taylor, Andrew J.0000-0002-5990-590X
Yue, Yisong0000-0001-9127-1989
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2019 IEEE. This work was supported in part by funding and gifts from DARPA, Intel, PIMCO, and Google.
Funders:
Funding AgencyGrant Number
Defense Advanced Research Projects Agency (DARPA)UNSPECIFIED
IntelUNSPECIFIED
PIMCOUNSPECIFIED
GoogleUNSPECIFIED
Record Number:CaltechAUTHORS:20190327-085842025
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190327-085842025
Official Citation:A. J. Taylor, V. D. Dorobantu, M. Krishnamoorthy, H. M. Le, Y. Yue and A. D. Ames, "A Control Lyapunov Perspective on Episodic Learning via Projection to State Stability," 2019 IEEE 58th Conference on Decision and Control (CDC), Nice, France, 2019, pp. 1448-1455, doi: 10.1109/CDC40024.2019.9029226
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:94190
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:27 Mar 2019 22:22
Last Modified:10 Sep 2020 18:31

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