Neural Lyapunov Control

We propose new methods for learning control policies and neural network Lyapunov functions for nonlinear control problems, with provable guarantee of stability. The framework consists of a learner that attempts to find the control and Lyapunov functions, and a falsifier that finds counterexamples to quickly guide the learner towards solutions. The procedure terminates when no counterexample is found by the falsifier, in which case the controlled nonlinear system is provably stable. The approach significantly simplifies the process of Lyapunov control design, provides end-to-end correctness guarantee, and can obtain much larger regions of attraction than existing methods such as LQR and SOS/SDP. We show experiments on how the new methods obtain high-quality solutions for challenging control problems.Comment: NeurIPS 201

Computational optimization of networks of dynamical systems under uncertainties: application to the air transportation system

To efficiently balance traffic demand and capacity, optimization of air traffic management relies on accurate predictions of future capacities, which are inherently uncertain due to weather forecast. This dissertation presents a novel computational efficient approach to address the uncertainties in air traffic system by using chance constrained optimization model. First, a chance constrained model for a single airport ground holding problem is proposed with the concept of service level, which provides a event-oriented performance criterion for uncertainty. With the validated advantage on robust optimal planning under uncertainty, the chance constrained model is developed for joint planning for multiple related airports. The probabilistic capacity constraints of airspace resources provide a quantized way to balance the solution’s robustness and potential cost, which is well validated against the classic stochastic scenario tree-based method. Following the similar idea, the chance constrained model is extended to formulate a traffic flow management problem under probabilistic sector capacities, which is derived from a previous deterministic linear model. The nonlinearity from the chance constraint makes this problem difficult to solve, especially for a large scale case. To address the computational efficiency problem, a novel convex approximation based approach is proposed based on the numerical properties of the Bernstein polynomial. By effectively controlling the approximation error for both the function value and gradient, a first-order algorithm can be adopted to obtain a satisfactory solution which is expected to be optimal. The convex approximation approach is evaluated to be reliable by comparing with a brute-force method.Finally, the specially designed architecture of the convex approximation provides massive independent internal approximation processes, which makes parallel computing to be suitable. A distributed computing framework is designed based on Spark, a big data cluster computing system, to further improve the computational efficiency. By taking the advantage of Spark, the distributed framework enables concurrent executions for the convex approximation processes. Evolved from a basic cloud computing package, Hadoop MapReduce, Spark provides advanced features on in-memory computing and dynamical task allocation. Performed on a small cluster of six workstations, these features are well demonstrated by comparing with MapReduce in solving the chance constrained model

Scalable Approach to Uncertainty Quantification and Robust Design of Interconnected Dynamical Systems

Development of robust dynamical systems and networks such as autonomous aircraft systems capable of accomplishing complex missions faces challenges due to the dynamically evolving uncertainties coming from model uncertainties, necessity to operate in a hostile cluttered urban environment, and the distributed and dynamic nature of the communication and computation resources. Model-based robust design is difficult because of the complexity of the hybrid dynamic models including continuous vehicle dynamics, the discrete models of computations and communications, and the size of the problem. We will overview recent advances in methodology and tools to model, analyze, and design robust autonomous aerospace systems operating in uncertain environment, with stress on efficient uncertainty quantification and robust design using the case studies of the mission including model-based target tracking and search, and trajectory planning in uncertain urban environment. To show that the methodology is generally applicable to uncertain dynamical systems, we will also show examples of application of the new methods to efficient uncertainty quantification of energy usage in buildings, and stability assessment of interconnected power networks

Genetic embedded matching approach to ground states in continuous-spin systems

Due to an extremely rugged structure of the free energy landscape, the determination of spin-glass ground states is among the hardest known optimization problems, found to be NP-hard in the most general case. Owing to the specific structure of local (free) energy minima, general-purpose optimization strategies perform relatively poorly on these problems, and a number of specially tailored optimization techniques have been developed in particular for the Ising spin glass and similar discrete systems. Here, an efficient optimization heuristic for the much less discussed case of continuous spins is introduced, based on the combination of an embedding of Ising spins into the continuous rotators and an appropriate variant of a genetic algorithm. Statistical techniques for insuring high reliability in finding (numerically) exact ground states are discussed, and the method is benchmarked against the simulated annealing approach.Comment: 17 pages, 12 figures, 1 tabl

Robust Consensus for a Class of Uncertain Multi-Agent Dynamical Systems

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Observation of the ground-state-geometric phase in a Heisenberg XY model

Geometric phases play a central role in a variety of quantum phenomena, especially in condensed matter physics. Recently, it was shown that this fundamental concept exhibits a connection to quantum phase transitions where the system undergoes a qualitative change in the ground state when a control parameter in its Hamiltonian is varied. Here we report the first experimental study using the geometric phase as a topological test of quantum transitions of the ground state in a Heisenberg XY spin model. Using NMR interferometry, we measure the geometric phase for different adiabatic circuits that do not pass through points of degeneracy.Comment: manuscript (4 pages, 3 figures) + supporting online material (6 pages + 7 figures), to be published in Phys. Rev. Lett. (2010