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YaChienChang / Neural-Lyapunov-Control

Learning Lyapunov functions and control policies of nonlinear dynamical systems
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Lie derivative formula #12

Closed HaomiaoLuoLlanio closed 1 year ago

HaomiaoLuoLlanio commented 1 year ago

Hi, Chang, YaChien, I'm recently learning your project. It's wonderful, but I'm so curious about the lie derivative that you implemented on the code, why you only do a diagonal operation when code are computing the lie derivative. It looks like different from the formula in the paper. I used the formal formula of lie derivative for learning, but there is no valid funciton proved by dreal4 even if the cost function is very small. Can you give me some suggestion? Hope you can reply, thank you very much!

HaomiaoLuoLlanio commented 1 year ago

Hi, I've solved the problem. It's version issue as well. Thank you!