Contact Info
Department of Applied Mathematics
University of Waterloo
Waterloo, Ontario
Canada N2L 3G1
Phone: 519-888-4567, ext. 32700
Fax: 519-746-4319
PDF files require Adobe Acrobat Reader
MS Teams (please email amgrad@uwaterloo.ca or the student for the meeting link)
Ruikun Zhou | Applied Mathematics, University of Waterloo
Learning-based Lyapunov Control of Unknown Nonlinear Systems with Stability Guarantees
How to guarantee the safety and stability of nonlinear systems with unknown dynamics remains a challenging problem for control systems. One of the most common scenarios can be reach-avoid tasks for robots with uncertainties. Thanks to state-of-the-art machine learning techniques and classic control theories, this issue is being addressed by data-driven control approaches.
In this talk, I will present how to learn the unknown dynamics and obtain stability guarantees for nonlinear dynamical systems with the help of neural networks. First, I will show how to learn the unknown dynamics using neural networks as a function approximator. Secondly, I will show how to train another neural network as a neural control Lyapunov function to stabilize the learned dynamics with verifiable guarantees. Lastly, other promising learning-based methods for tackling this issue, e.g., Gaussian process regression and Koopman operator theory, will be mentioned. I will briefly discuss how to implement them as the potential future work for my PhD studies.
Contact Info
Department of Applied Mathematics
University of Waterloo
Waterloo, Ontario
Canada N2L 3G1
Phone: 519-888-4567, ext. 32700
Fax: 519-746-4319
PDF files require Adobe Acrobat Reader
The University of Waterloo acknowledges that much of our work takes place on the traditional territory of the Neutral, Anishinaabeg and Haudenosaunee peoples. Our main campus is situated on the Haldimand Tract, the land granted to the Six Nations that includes six miles on each side of the Grand River. Our active work toward reconciliation takes place across our campuses through research, learning, teaching, and community building, and is co-ordinated within the Office of Indigenous Relations.