環境制約下の入力駆動システムに対する環境認識型安定ニューラルクープマン動力学学習
Environment-Aware Stable Neural Koopman Dynamics Learning for Input-Driven Systems under Environmental Constraints
環境変化を考慮しつつ安定性と入力状態安定性を保証する、ニューラルODEとクープマン作用素を統合した予測モデル学習手法を提案した。
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著者: Lin Feng
分類: eess.SY
原文アブストラクト
Constructing predictive models of nonlinear dynamical systems from measurement data is a longstanding problem in systems identification and control. Although Neural ordinary differential equations~(Neural ODEs), Koopman operator approximations, and input-aware architectures have each moved the field forward, none simultaneously addresses environment-varying operating conditions, rigorous stability guarantees, and input-to-state stability (ISS) certification within a unified trainable framework. This paper introduces Environment-Aware Stable Neural Koopman Dynamics Learning (ESNKD), which integrates four components: (i)~a bundle-structured encoder that maps environmental observations to a geometrically regularized latent manifold, drawing on the fiber bundle framework; (ii)~an input-conditioned Neural ODE whose residual term handles arbitrary external signals, extending the input concomitant philosophy; (iii)~a contraction synthesis layer enforcing convergence via Persidskii-type tractable linear inequalities, analogous to the certification mechanism; and (iv)~a Koopman lifting stage with LMI-based ISS verification that follows the theoretical pipeline of. Theoretical guarantees cover solution existence and uniqueness, incremental exponential stability, ISS with explicit gain bounds, and robustness to environmental perturbation. Experiments on five benchmark systems, including two robotic manipulation platforms, show consistent improvements over five competitive baselines in both prediction accuracy and safety certification rates.
