Stability Analysis Using Quadratic Constraints for Systems With Neural Network Controllers

• 成果类型: Article
• 署名作者: Yin, He; Seiler, Peter; Arcak, Murat
• 署名单位: University of California System; University of California Berkeley; University of Michigan System; University of Michigan
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3069388
• 发表日期: 2022
• 页码: 1980-1987
• 关键词: Artificial neural networks; stability analysis; asymptotic stability; Vehicle dynamics; Linear systems; Perturbation methods; Numerical stability; LMIs; Neural Networks; stability of linear systems; uncertain systems

摘要

A method is presented to analyze the stability of feedback systems with neural network controllers. Two stability theorems are given to prove asymptotic stability and to compute an ellipsoidal innerapproximation to the region of attraction (ROA). The first theorem addresses linear time-invariant systems, and merges Lyapunov theory with local (sector) quadratic constraints to bound the nonlinear activation functions in the neural network. The second theorem allows the system to include perturbations such as unmodeled dynamics, slope-restricted nonlinearities, and time delay, using integral quadratic constraint (IQCs) to capture their input/output behavior. This in turn allows for off-by-one IQCs to refine the description of activation functions by capturing their slope restrictions. Both results rely on semidefinite programming to approximate the ROA. The method is illustrated on systems with neural networks trained to stabilize a nonlinear inverted pendulum as well as vehicle lateral dynamics with actuator uncertainty.