Learning Deep Dissipative Dynamics
Fuente:
arXiv
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| Auteurs principaux: | , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866915070734237696 |
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| author | Okamoto, Yuji Kojima, Ryosuke |
| author_facet | Okamoto, Yuji Kojima, Ryosuke |
| contents | This study challenges strictly guaranteeing ``dissipativity'' of a dynamical system represented by neural networks learned from given time-series data. Dissipativity is a crucial indicator for dynamical systems that generalizes stability and input-output stability, known to be valid across various systems including robotics, biological systems, and molecular dynamics. By analytically proving the general solution to the nonlinear Kalman-Yakubovich-Popov (KYP) lemma, which is the necessary and sufficient condition for dissipativity, we propose a differentiable projection that transforms any dynamics represented by neural networks into dissipative ones and a learning method for the transformed dynamics. Utilizing the generality of dissipativity, our method strictly guarantee stability, input-output stability, and energy conservation of trained dynamical systems. Finally, we demonstrate the robustness of our method against out-of-domain input through applications to robotic arms and fluid dynamics. Code is https://github.com/kojima-r/DeepDissipativeModel |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_11479 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Learning Deep Dissipative Dynamics Okamoto, Yuji Kojima, Ryosuke Machine Learning Systems and Control Dynamical Systems This study challenges strictly guaranteeing ``dissipativity'' of a dynamical system represented by neural networks learned from given time-series data. Dissipativity is a crucial indicator for dynamical systems that generalizes stability and input-output stability, known to be valid across various systems including robotics, biological systems, and molecular dynamics. By analytically proving the general solution to the nonlinear Kalman-Yakubovich-Popov (KYP) lemma, which is the necessary and sufficient condition for dissipativity, we propose a differentiable projection that transforms any dynamics represented by neural networks into dissipative ones and a learning method for the transformed dynamics. Utilizing the generality of dissipativity, our method strictly guarantee stability, input-output stability, and energy conservation of trained dynamical systems. Finally, we demonstrate the robustness of our method against out-of-domain input through applications to robotic arms and fluid dynamics. Code is https://github.com/kojima-r/DeepDissipativeModel |
| title | Learning Deep Dissipative Dynamics |
| topic | Machine Learning Systems and Control Dynamical Systems |
| url | https://arxiv.org/abs/2408.11479 |