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StanfordASL / neural-network-lyapunov

Synthesizing neural-network Lyapunov functions (and controllers) as stability certificate.
MIT License
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Add Pole class with dynamics. #400

Closed hongkai-dai closed 2 years ago

hongkai-dai commented 2 years ago

This change is Reviewable

lujieyang commented 2 years ago

neural_network_lyapunov/examples/pole/pole.py, line 12 at r1 (raw file):

    system is the force applied on the end-effector.
    The state of the system is:
        delta horizontal position from the end-effector to the sphere.

Maybe clarify the (number of) variables with (x_AB, y_AB)

lujieyang commented 2 years ago

neural_network_lyapunov/examples/pole/test/test_pole.py, line 27 at r1 (raw file):

        # now simulate the pole system under zero external force. The total
        # energy should be conserved.
        # The state x0 is [x/y/z/ position of the end-effector pole_state]

Add "," to separate end-effector position and pole state