Fast diffeomorphic matching to learn globally asymptotically stable nonlinear dynamical systems

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Asymptotically Globally Stable Multiwindow Controllers

The Popov criterion is applied to control system analysis and design. Nonlinear dynamic compensators (NDC) are int reduced which ensure absolute stability without penalizing the available feedback. 1 Multiwindow Controllers and Nonlinear Dynamic Compensation Ivlultiwindow controllers consisting of linear controllers with nonlinear windows [1,2] perform superior to linear controllers. They can b...

متن کامل

Fast Inference in Nonlinear Dynamical Systems using Gradient Matching

Parameter inference in mechanistic models of coupled differential equations is a topical problem. We propose a new method based on kernel ridge regression and gradient matching, and an objective function that simultaneously encourages goodness of fit and penalises inconsistencies with the differential equations. Fast minimisation is achieved by exploiting partial convexity inherent in this func...

متن کامل

Learning robot motions with stable dynamical systems under diffeomorphic transformations

Accuracy and stability have in recent studies been emphasized as the two major ingredients to learn robot motions from demonstrations with dynamical systems. Several approaches yield stable dynamical systems but are also limited to specific dynamics that can potentially result in a poor reproduction performance. The current work addresses this accuracy-stability dilemma through a new diffeomorp...

متن کامل

Delay-Dependent Robust Asymptotically Stable for Linear Time Variant Systems

In this paper, the problem of delay dependent robust asymptotically stable for uncertain linear time-variant system with multiple delays is investigated. A new delay-dependent stability sufficient condition is given by using the Lyapunov method, linear matrix inequality (LMI), parameterized first-order model transformation technique and transformation of the interval uncertainty in to the norm ...

متن کامل

Learning Stable Stochastic Nonlinear Dynamical Systems

A data-driven identification of dynamical systems requiring only minimal prior knowledge is promising whenever no analytically derived model structure is available, e.g., from first principles in physics. However, meta-knowledge on the system’s behavior is often given and should be exploited: Stability as fundamental property is essential when the model is used for controller design or movement...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Systems & Control Letters

سال: 2016

ISSN: 0167-6911

DOI: 10.1016/j.sysconle.2016.06.018