Input State Stability of Gated Graph Neural Networks

In this paper, we aim to find the conditions for input-state stability (ISS) and incremental input-state stability ( <tex-math notation="LaTeX">δ</tex-math> ISS) of Gated Graph Neural Networks (GGNNs). We show that this recurrent version of Graph Neural Networks (GNNs) can be expressed as a dynamical distributed system and, as a consequence, can be analysed using model-based techniques to assess its stability and robustness properties. Then, the stability criteria found can be exploited as constraints during the training process to enforce the internal stability of the neural network. Two distributed control examples, flocking and multi-robot motion control, show that using these conditions increases the performance and robustness of the gated GNNs.