A co-learning approach jointly optimizes a port-Hamiltonian system model and an energy-balancing passivity-based controller from data via alternating optimization with neural networks that embed structure for guaranteed passivity and stability.
arXiv preprint arXiv:2109.14152 , year=
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CT-BaB integrates branch-and-bound during training to tighten certified Lyapunov bounds, yielding neural controllers with 164X larger verifiable ROA and 11X faster verification than CEGIS on a 2D quadrotor.
A reinforcement learning policy learns to adaptively harvest data samples, improving empirical constraint satisfaction and training efficiency for Lyapunov NNs and PINNs.
citing papers explorer
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Co-Learning Port-Hamiltonian Systems and Optimal Energy-Shaping Control
A co-learning approach jointly optimizes a port-Hamiltonian system model and an energy-balancing passivity-based controller from data via alternating optimization with neural networks that embed structure for guaranteed passivity and stability.
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Certified Training with Branch-and-Bound for Lyapunov-stable Neural Control
CT-BaB integrates branch-and-bound during training to tighten certified Lyapunov bounds, yielding neural controllers with 164X larger verifiable ROA and 11X faster verification than CEGIS on a 2D quadrotor.
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Adaptive Data Harvesting for Efficient Neural Network Learning with Universal Constraints
A reinforcement learning policy learns to adaptively harvest data samples, improving empirical constraint satisfaction and training efficiency for Lyapunov NNs and PINNs.