Learning to Adapt: Reptile-D-Learning for Robust and Efficient Control Under Parametric Uncertainty

原文アブストラクト

Learning-based Lyapunov Control (LLC) provides formal stability guarantees for nonlinear systems, but its validity relies heavily on accurate system models. Parameter variations and uncertainties may invalidate stability constraints, leading to costly retraining. Although D-learning can estimate Lyapunov derivatives without relying on explicit dynamics models, it remains limited by single-task dynamics and degrades under large parameter shifts. We propose Reptile-D-learning, a framework that leverages the Reptile meta-learning algorithm to capture shared dynamical structures across systems with different parameters, thereby learning a generalizable Lyapunov network initialization and a high-performance controller. Experiments on multiple nonlinear control systems demonstrate that Reptile-D-learning significantly improves both generalization and rapid adaptation to unseen parameter configurations.