Manifold-Guided Lyapunov Control with Diffusion Models

arXiv:2403.17692v1 Announce Type: cross
Abstract: This paper presents a novel approach to generating stabilizing controllers for a large class of dynamical systems using diffusion models. The core objective is to develop stabilizing control functions by identifying the closest asymptotically stable vector field relative to a predetermined manifold and adjusting the control function based on this finding. To achieve this, we employ a diffusion model trained on pairs consisting of asymptotically stable vector fields and their corresponding Lyapunov functions. Our numerical …

abstract adjusting arxiv class control core cs.cv cs.lg diffusion diffusion models function functions manifold math.dg math.oc novel paper stat.co systems type vector