An application of Lyapunov stability analysis to improve the performance of NARMAX models

Otar Akanyeti*, Iñaki Rañó, Ulrich Nehmzow, S. A. Billings

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

11 Citations (SciVal)


Previously we presented a novel approach to program a robot controller based on system identification and robot training techniques. The proposed method works in two stages: first, the programmer demonstrates the desired behaviour to the robot by driving it manually in the target environment. During this run, the sensory perception and the desired velocity commands of the robot are logged. Having thus obtained training data we model the relationship between sensory readings and the motor commands of the robot using ARMAX/NARMAX models and system identification techniques. These produce linear or non-linear polynomials which can be formally analysed, as well as used in place of "traditional robot" control code. In this paper we focus our attention on how the mathematical analysis of NARMAX models can be used to understand the robot's control actions, to formulate hypotheses and to improve the robot's behaviour. One main objective behind this approach is to avoid trial-and-error refinement of robot code. Instead, we seek to obtain a reliable design process, where program design decisions are based on the mathematical analysis of the model describing how the robot interacts with its environment to achieve the desired behaviour. We demonstrate this procedure through the analysis of a particular task in mobile robotics: door traversal.

Original languageEnglish
Pages (from-to)229-238
Number of pages10
JournalRobotics and Autonomous Systems
Issue number3
Early online date19 Nov 2009
Publication statusPublished - 31 Mar 2010
Externally publishedYes


  • Lyapunov stability analysis
  • Modelling
  • Robot
  • System identification
  • Training


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