Learning Stabilizable Dynamical Systems via Control Contraction Metrics

31 Jul 2018Sumeet SinghVikas SindhwaniJean-Jacques E. SlotineMarco Pavone

We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key idea is to develop a new control-theoretic regularizer for dynamics fitting rooted in the notion of stabilizability, which guarantees that the learned system can be accompanied by a robust controller capable of stabilizing any open-loop trajectory that the system may generate... (read more)

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