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We present a technique for learning control Lyapunov (potential) functions, which are used in turn to synthesize controllers for nonlinear dynamical systems.
Stabilization with relaxed controls
Zvi Artstein · 1983
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A ’universal’ construction of artstein’s theorem on nonlinear stabilization
Eduardo D Sontag · 1989
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Jean B Lasserre · 2001
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Stephen Prajna, Pablo A Parrilo, and Anders Rantzer · 2004
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Synthesis of reactive switching protocols from temporal logic specifications
Jun Liu, Necmiye Ozay, Ufuk Topcu, and Richard M Murray · 2013
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Control design along trajectories with sums of squares programming
Anirudha Majumdar, Amir Ali Ahmadi, and Russ Tedrake · 2013
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Sebti Mouelhi, Antoine Girard, and Gregor Gössler · 2013
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Computing augmented finite transition systems to synthesize switching protocols for polynomial switched systems
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Simulation-guided lyapunov analysis for hybrid dynamical systems
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Convex optimization of nonlinear feedback controllers via occupation measures
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Combining the benefits of function approximation and trajectory optimization
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Counter-example guided synthesis of control lyapunov functions for switched systems
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Robust controller synthesis of switched systems using counterexample guided framework
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Learning potential functions from human demonstrations with encapsulated dynamic and compliant behaviors
Seyed Mohammad Khansari-Zadeh and Oussama Khatib · 2017
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