# Learning To Estimate Regions Of Attraction Of Autonomous Dynamical Systems Using Physics-Informed Neural Networks

arXiv: https://arxiv.org/abs/2111.09930 · HTML: https://mlsanity.com/paper/2111.09930/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 16 of its 38 references that are in the map.
- First posted on arXiv 18 Nov 2021.

## Builds on (most cited first, 16 of 16)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Safe Model-based Reinforcement Learning with Stability Guarantees](https://mlsanity.com/paper/1705.08551/) (2017)
- [hp-VPINNs: Variational Physics-Informed Neural Networks With Domain Decomposition](https://mlsanity.com/paper/2003.05385/) (2020)
- [Self-Adaptive Physics-Informed Neural Networks using a Soft Attention Mechanism](https://mlsanity.com/paper/2009.04544/) (2020)
- [Variational Physics-Informed Neural Networks For Solving Partial Differential Equations](https://mlsanity.com/paper/1912.00873/) (2019)
- [Quantifying total uncertainty in physics-informed neural networks for solving forward and inverse stochastic problems](https://mlsanity.com/paper/1809.08327/) (2018)
- [Combining Differentiable PDE Solvers and Graph Neural Networks for Fluid Flow Prediction](https://mlsanity.com/paper/2007.04439/) (2020)
- [Understanding and mitigating gradient pathologies in physics-informed neural networks](https://mlsanity.com/paper/2001.04536/) (2020)
- [Adversarial Uncertainty Quantification in Physics-Informed Neural Networks](https://mlsanity.com/paper/1811.04026/) (2018)
- [Estimates on the generalization error of Physics Informed Neural Networks (PINNs) for approximating PDEs](https://mlsanity.com/paper/2006.16144/) (2020)
- [The Lyapunov Neural Network: Adaptive Stability Certification for Safe Learning of Dynamical Systems](https://mlsanity.com/paper/1808.00924/) (2018)
- [Safe Controller Optimization for Quadrotors with Gaussian Processes](https://mlsanity.com/paper/1509.01066/) (2015)
- [Learning Neural PDE Solvers with Convergence Guarantees](https://mlsanity.com/paper/1906.01200/) (2019)
- [Safe Learning of Regions of Attraction for Uncertain, Nonlinear Systems with Gaussian Processes](https://mlsanity.com/paper/1603.04915/) (2016)
- [VarNet: Variational Neural Networks for the Solution of Partial Differential Equations](https://mlsanity.com/paper/1912.07443/) (2019)
- [Data driven approximation of parametrized PDEs by Reduced Basis and Neural Networks](https://mlsanity.com/paper/1904.01514/) (2019)

## Built on by (most cited first, 1 of 1)

- [Scientific Machine Learning through Physics-Informed Neural Networks: Where we are and What's next](https://mlsanity.com/paper/2201.05624/) (2022)

## Abstract (arXiv)

When learning to perform motor tasks in a simulated environment, neural networks must be allowed to explore their action space to discover new potentially viable solutions. However, in an online learning scenario with physical hardware, this exploration must be constrained by relevant safety considerations in order to avoid damage to the agent's hardware and environment. We aim to address this problem by training a neural network, which we will refer to as a "safety network", to estimate the region of attraction (ROA) of a controlled autonomous dynamical system. This safety network can thereby be used to quantify the relative safety of proposed control actions and prevent the selection of damaging actions. Here we present our development of the safety network by training an artificial neural network (ANN) to represent the ROA of several autonomous dynamical system benchmark problems. The training of this network is predicated upon both Lyapunov theory and neural solutions to partial differential equations (PDEs). By learning to approximate the viscosity solution to a specially chosen PDE that contains the dynamics of the system of interest, the safety network learns to approximate a particular function, similar to a Lyapunov function, whose zero level set is boundary of the ROA. We train our safety network to solve these PDEs in a semi-supervised manner following a modified version of the Physics Informed Neural Network (PINN) approach, utilizing a loss function that penalizes disagreement with the PDE's initial and boundary conditions, as well as non-zero residual and variational terms. In future work we intend to apply this technique to reinforcement learning agents during motor learning tasks.