Discovering efficient periodic behaviors in mechanical systems via neural approximators

DOI10.1002/OCA.3025arXiv2212.14253MaRDI QIDQ6180273FDOQ6180273

Authors: Christoph Brune, Stefano Stramigioli, F. Califano 

Publication date: 19 January 2024

Published in: Optimal Control Applications \& Methods (Search for Journal in Brave)

Abstract: It is well known that conservative mechanical systems exhibit local oscillatory behaviours due to their elastic and gravitational potentials, which completely characterise these periodic motions together with the inertial properties of the system. The classification of these periodic behaviours and their geometric characterisation are in an on-going secular debate, which recently led to the so-called eigenmanifold theory. The eigenmanifold characterises nonlinear oscillations as a generalisation of linear eigenspaces. With the motivation of performing periodic tasks efficiently, we use tools coming from this theory to construct an optimization problem aimed at inducing desired closed-loop oscillations through a state feedback law. We solve the constructed optimization problem via gradient-descent methods involving neural networks. Extensive simulations show the validity of the approach.

Full work available at URL: https://arxiv.org/abs/2212.14253

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zbMATH Keywords

neural networksstabilizationnonlinear oscillation

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Stabilization of systems by feedback (93D15)

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• Optimal Energy Shaping via Neural Approximators

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