In this work, we introduce Dissipative SymODEN, a deep learning architecture which can infer the dynamics of a physical system with dissipation from observed state trajectories. To improve prediction accuracy while reducing network size, Dissipative SymODEN encodes the port-Hamiltonian dynamics with energy dissipation and external input into the design of its computation graph and learns the dynamics in a structured way. The learned model, by revealing key aspects of the system, such as the inertia, dissipation, and potential energy, paves the way for energy-based controllers.
- Pub Date:
- February 2020
- Computer Science - Machine Learning;
- Electrical Engineering and Systems Science - Systems and Control;
- Statistics - Machine Learning
- Published at ICLR 2020 Workshop on Integration of Deep Neural Models and Differential Equations (DeepDiffEq)