Interconnection and Damping Assignment Passivity-Based Control using Sparse Neural ODEs
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arXiv
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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866914233661259776 |
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| author | Botteghi, Nicolò Brook, Owen Fasel, Urban Califano, Federico |
| author_facet | Botteghi, Nicolò Brook, Owen Fasel, Urban Califano, Federico |
| contents | Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) is a nonlinear control technique that assigns a port-Hamiltonian (pH) structure to a controlled system using a state-feedback law. While IDA-PBC has been extensively studied and applied to many systems, its practical implementation often remains confined to academic examples and, almost exclusively, to stabilization tasks. The main limitation of IDA-PBC stems from the complexity of analytically solving a set of partial differential equations (PDEs), referred to as the matching conditions, which enforce the pH structure of the closed-loop system. However, this is extremely challenging, especially for complex physical systems and tasks.
In this work, we propose a novel numerical approach for designing IDA-PBC controllers without solving the matching PDEs exactly. We cast the IDA-PBC problem as the learning of a neural ordinary differential equation. In particular, we rely on sparse dictionary learning to parametrize the desired closed-loop system as a sparse linear combination of nonlinear state-dependent functions. Optimization of the controller parameters is achieved by solving a multi-objective optimization problem whose cost function is composed of a generic task-dependent cost and a matching condition-dependent cost. Our numerical results show that the proposed method enables (i) IDA-PBC to be applicable to complex tasks beyond stabilization, such as the discovery of periodic oscillatory behaviors, (ii) the derivation of closed-form expressions of the controlled system, including residual terms in case of approximate matching, and (iii) stability analysis of the learned controller. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_06935 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Interconnection and Damping Assignment Passivity-Based Control using Sparse Neural ODEs Botteghi, Nicolò Brook, Owen Fasel, Urban Califano, Federico Robotics Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) is a nonlinear control technique that assigns a port-Hamiltonian (pH) structure to a controlled system using a state-feedback law. While IDA-PBC has been extensively studied and applied to many systems, its practical implementation often remains confined to academic examples and, almost exclusively, to stabilization tasks. The main limitation of IDA-PBC stems from the complexity of analytically solving a set of partial differential equations (PDEs), referred to as the matching conditions, which enforce the pH structure of the closed-loop system. However, this is extremely challenging, especially for complex physical systems and tasks. In this work, we propose a novel numerical approach for designing IDA-PBC controllers without solving the matching PDEs exactly. We cast the IDA-PBC problem as the learning of a neural ordinary differential equation. In particular, we rely on sparse dictionary learning to parametrize the desired closed-loop system as a sparse linear combination of nonlinear state-dependent functions. Optimization of the controller parameters is achieved by solving a multi-objective optimization problem whose cost function is composed of a generic task-dependent cost and a matching condition-dependent cost. Our numerical results show that the proposed method enables (i) IDA-PBC to be applicable to complex tasks beyond stabilization, such as the discovery of periodic oscillatory behaviors, (ii) the derivation of closed-form expressions of the controlled system, including residual terms in case of approximate matching, and (iii) stability analysis of the learned controller. |
| title | Interconnection and Damping Assignment Passivity-Based Control using Sparse Neural ODEs |
| topic | Robotics |
| url | https://arxiv.org/abs/2512.06935 |