Examples for existence and non-existence of separable control Lyapunov functions

Titelangaben

Grüne, Lars ; Sperl, Mario:
Examples for existence and non-existence of separable control Lyapunov functions.
Bayreuth , 2022 . - 6 S.
DOI: https://doi.org/10.15495/EPub_UBT_00006664

Volltext

Link zum Volltext (externe URL):

Angaben zu Projekten

Abstract

In this paper, we consider nonlinear control systems and discuss the existence of a separable control Lyapunov function. To this end, we assume that the system can be decomposed into subsystems and formulate conditions such that a weighted sum of Lyapunov functions of the subsystems yields a control Lyapunov function of the overall system. Since deep neural networks are capable of approximating separable functions without suffering from the curse of dimensionality, we can thus identify systems where an efficient approximating of a control Lyapunov function via a deep neural network is possible. A corresponding network architecture and training algorithm are proposed. Further, numerical examples illustrate the behavior of the algorithm.