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Journal articles
Fast diffeomorphic matching to learn globally asymptotically stable nonlinear dynamical systems
Abstract : We propose a new diffeomorphic matching algorithm and use it to learn nonlinear dynamical systems with the guarantee that the learned systems have global asymptotic stability. For a given set of demonstration trajectories, we compute a diffeomorphism that maps forward orbits of a reference stable time-invariant system onto the demonstrations, thereby deforming the whole reference system into one that reproduces the demonstrations, and is still stable.
Cited literature [12 references]
https://hal.sorbonne-universite.fr/hal-01394886
Contributor : Gestionnaire Hal-Upmc <>
Submitted on : Thursday, November 10, 2016 - 10:08:36 AM
Last modification on : Thursday, December 17, 2020 - 11:26:02 PM
Long-term archiving on: : Wednesday, March 15, 2017 - 4:26:52 AM
Contributor : Gestionnaire Hal-Upmc <>
Submitted on : Thursday, November 10, 2016 - 10:08:36 AM
Last modification on : Thursday, December 17, 2020 - 11:26:02 PM
Long-term archiving on: : Wednesday, March 15, 2017 - 4:26:52 AM
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