Fast diffeomorphic matching to learn globally asymptotically stable nonlinear dynamical systems

DOI10.1016/J.SYSCONLE.2016.06.018MaRDI QIDQ325059zbMATH OpenOpenAlexFDO

Authors Nicolas Perrin, Philipp Schlehuber-Caissier

Publication date 17 October 2016

Published in Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL https://hal.sorbonne-universite.fr/hal-01394886/file/Perrin_2016_Fast_diffeomorphic.pdf

zbMATH Keywords

nonlinear dynamical systemsLyapunov stabilitydiffeomorphic mappingdynamical movement primitivesimitation learning

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Asymptotic stability in control theory (93D20)

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Cites work

• Dynamical movement primitives: learning attractor models for motor behaviors
• Landmark matching via large deformation diffeomorphisms
• Large deformation diffeomorphic metric curve mapping
• The Construction of Analytic Diffeomorphisms for Exact Robot Navigation on Star Worlds
• Variational problems on flows of diffeomorphisms for image matching

Cited in

(2)

• Dynamical system learning using extreme learning machines with safety and stability guarantees
• Imitation learning of stabilizing policies for nonlinear systems

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