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In this paper, we present a method to analyze local and global stability in offset-free setpoint tracking using neural network controllers and we provide ellipsoidal inner approximations of the corresponding region of attraction.
A multilayered neural network controller
Demetri Psaltis, Athanasios Sideris, and Alan A Yamamura · 1988
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Control of nonlinear dynamical systems using neural networks: Controllability and stabilization
Asriel U Levin and Kumpati S Narendra · 1993
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Reference governor for constrained nonlinear systems
Alberto Bemporad · 1998
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Analysis of linear systems with saturation using convex optimization
Haitham Hindi and Stephen Boyd · 1998
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Disturbance models for offset-free model-predictive control
Gabriele Pannocchia and James B Rawlings · 2003
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Yalmip : A toolbox for modeling and optimization in matlab
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Christian Szegedy, Wojciech Zaremba, Ilya Sutskever, Joan Bruna, Dumitru Erhan, Ian Goodfellow, and Rob Fergus · 2013
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Learning deep control policies for autonomous aerial vehicles with MPC-guided policy search
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Michael Hertneck, Johannes Köhler, Sebastian Trimpe, and Frank Allgöwer · 2018
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Reinforcement learning: An introduction
Richard S Sutton and Andrew G Barto · 2018
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Mahyar Fazlyab, Alexander Robey, Hamed Hassani, Manfred Morari, and George Pappas · 2019
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The MOSEK optimization toolbox for MATLAB manual. Version 9.0. , 2019
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Enforcing robust control guarantees within neural network policies
Contracting implicit recurrent neural networks: Stable models with improved trainability
Max Revay and Ian Manchester · 2020
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Lipschitz bounded equilibrium networks
Max Revay, Ruigang Wang, and Ian R Manchester · 2020
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A convex parameterization of robust recurrent neural networks
Max Revay, Ruigang Wang, and Ian R. Manchester · 2020
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Imitation learning with stability and safety guarantees
He Yin, Peter Seiler, Ming Jin, and Murat Arcak · 2020
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Training robust neural networks using Lipschitz bounds
Patricia Pauli, Anne Koch, Julian Berberich, Paul Kohler, and Frank Allgower · 2021
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Priya L. Donti, Melrose Roderick, Mahyar Fazlyab, and J. Zico Kolter · 2020
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Learning-supported approximated optimal control for autonomous vehicles in the presence of state dependent uncertainties
Mohamed Ibrahim, Christian Kallies, and Rolf Findeisen · 2020
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He Yin, Peter Seiler, and Murat Arcak · 2021
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