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 | ||||||||||
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Additional Information: | © 2019 IEEE. This work was supported in part by funding and gifts from DARPA, Intel, PIMCO, and Google. | ||||||||||
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DOI: | 10.1109/CDC40024.2019.9029226 | ||||||||||
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: | 16 Nov 2021 17:03 |
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