- Keywords: Deep Model Learning, Physics-based Priors, Control of Mechanical Systems
- TL;DR: This work enforces Hamiltonian dynamics with control to learn system models from embedded position and velocity data, and exploits this physically-consistent dynamics to synthesize model-based control via energy shaping.
- Abstract: In this paper, we introduce Symplectic ODE-Net (SymODEN), a deep learning framework which can infer the dynamics of a physical system from observed state trajectories. To achieve better generalization with fewer training samples, SymODEN incorporates appropriate inductive bias by designing the associated computation graph in a physics-informed manner. In particular, we enforce Hamiltonian dynamics with control to learn the underlying dynamics in a transparent way which can then be leveraged to draw insight about relevant physical aspects of the system, such as mass and potential energy. In addition, we propose a parametrization which can enforce this Hamiltonian formalism even when the generalized coordinate data is embedded in a high-dimensional space or we can only access velocity data instead of generalized momentum. This framework, by offering interpretable, physically-consistent models for physical systems, opens up new possibilities for synthesizing model-based control strategies.
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