Learning Safe-by-Design Neural Network Controllers
Safety filters constructed from control barrier functions (CBFs) are commonly appended to pre-trained neural network controllers to enforce safety requirements. However, this …
yang-zhao
Sze Zheng Yong
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1 min read
CAffNet: Hard Constraint-Affine Neural Networks
We present a novel framework for embedding hard constraint satisfaction into neural network (NN) architectures, specifically feedforward neural networks and transformers, with …
yang-zhao
Tube-Based MPC for Uncertain Sampled-Data Control Systems With Inter-Sample Reachability Analysis
This letter presents an output-feedback tube-based model predictive control (MPC) framework for linear sampled-data control systems subject to external disturbances and non-convex …
yang-zhao