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conference paper

Neural Exponential Stabilization of Control-affine Nonlinear Systems

Zakwan, Muhammad  
•
Xu, Liang
•
Ferrari Trecate, Giancarlo  
December 2024
Proceedings of the IEEE Conference on Decision and Control
63rd IEEE Conference on Decision and Control

This paper proposes a novel learning-based approach for achieving exponential stabilization of nonlinear control-affine systems. We leverage the Control Contraction Metrics (CCMs) framework to co-synthesize Neural Contraction Metrics (NCMs) and Neural Network (NN) controllers. First, we transform the infinite-dimensional semi-definite program (SDP) for CCM computation into a tractable inequality feasibility problem using element-wise bounds of matrix-valued functions. The terms in the inequality can be efficiently computed by our novel algorithms. Second, we propose a free parametrization of NCMs guaranteeing positive definiteness and the satisfaction of a partial differential equation, regardless of trainable parameters. Third, this parametrization and the inequality condition enable the design of contractivity-enforcing regularizers, which can be incorporated while designing the N N controller for exponential stabilization of the underlying nonlinear systems. Furthermore, when the training loss goes to zero, we provide formal guarantees on verification of the NCM and the exponentional stabilization under the NN controller. Finally, we validate our method through benchmark experiments on setpoint stabilization and increasing the region of attraction of a locally pre-stabilized closed-loop system.

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Type
conference paper
DOI
10.1109/CDC56724.2024.10886677
Scopus ID

2-s2.0-86000652962

Author(s)
Zakwan, Muhammad  

EPFL

Xu, Liang

Shanghai University

Ferrari Trecate, Giancarlo  

EPFL

Date Issued

2024-12

Publisher

Institute of Electrical and Electronics Engineers Inc.

Published in
Proceedings of the IEEE Conference on Decision and Control
DOI of the book
https://doi.org/10.1109/CDC56724.2024
ISBN of the book

9798350316339

Start page

8602

End page

8607

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
SCI-STI-GFT  
Event nameEvent acronymEvent placeEvent date
63rd IEEE Conference on Decision and Control

CDC 2024

Milan, Italy

2024-12-16 - 2024-12-19

FunderFunding(s)Grant NumberGrant URL

Swiss National Science Foundation

51NF40 180545

National Natural Science Foundation of China

62333011,62373239

Available on Infoscience
March 25, 2025
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/248235
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