Related papers: Iterative Cut-Based PWA Approximation of Multi-Dim…
Nonlinear expressions are often approximated by piecewise affine (PWA) functions to simplify analysis or reduce computational costs. To reduce computational complexity, multivariate functions can be represented as compositions of functions…
Piecewise affine (PWA) systems are widely applied in many practical cases such as the control of nonlinear systems and hybrid dynamics. However, most of the existing PWA control methods have poor scalability with respect to the number of…
We investigate the problem of fitting piecewise affine functions (PWA) to data. Our algorithm divides the input domain into finitely many polyhedral regions whose shapes are specified using a user-defined template such that the data points…
Nonlinear Programs (NLPs) are prevalent in optimization-based control of nonlinear systems. Solving general NLPs is computationally expensive, necessitating the development of fast hardware or tractable suboptimal approximations. This paper…
This paper investigates the control of nonlinear systems using a piecewise linear approximation framework. The proposed approach combines a PID controller with locally linearized models obtained by partitioning the nonlinear function into…
Infinite-horizon optimal control of constrained piecewise affine (PWA) systems has been approximately addressed by hybrid model predictive control (MPC), which, however, has computational limitations, both in offline design and online…
To promote the widespread use of mobile robots in diverse fields, the performance of trajectory tracking must be ensured. To address the constraints and nonlinear features associated with mobile robot systems, we apply nonlinear model…
Autonomous motion planning under unknown nonlinear dynamics presents significant challenges. An agent needs to continuously explore the system dynamics to acquire its properties, such as reachability, in order to guide system navigation…
Piecewise affine (PWA) systems are widely used to model highly nonlinear behaviors such as contact dynamics in robot locomotion and manipulation. Existing control techniques for PWA systems have computational drawbacks, both in offline…
We propose a piecewise learning framework for controlling nonlinear systems with unknown dynamics. While model-based reinforcement learning techniques in terms of some basis functions are well known in the literature, when it comes to more…
Autonomous motion planning under unknown nonlinear dynamics requires learning system properties while navigating toward a target. In this work, we develop a hierarchical planning-control framework that enables online motion synthesis with…
This paper introduces an algorithm for approximating the invariant set of closed-loop controlled dynamical systems identified using ReLU neural networks or piecewise affine PWA functions, particularly addressing the challenge of providing…
Neural networks (NN) have been successfully applied to approximate various types of complex control laws, resulting in low-complexity NN-based controllers that are fast to evaluate. However, when approximating control laws using NN,…
In this paper, we consider the problem of piecewise affine abstraction of nonlinear systems, i.e., the overapproximation of its nonlinear dynamics by a pair of piecewise affine functions that "includes" the dynamical characteristics of the…
We propose two optimization-based heuristics for structure selection and identification of PieceWise Affine (PWA) models with exogenous inputs. The first method determines the number of affine sub-models assuming known model order of the…
This paper introduces computationally efficient methods for synthesizing explicit piecewise affine (PWA) feedback laws for nonlinear discrete-time systems, ensuring robustness and performance guarantees. The approach proceeds by optimizing…
Symbolic models have been recently used as a sound mathematical formalism for the formal verification and control design of purely continuous and hybrid systems. In this paper we propose a sequence of symbolic models that approximates a…
Piecewise-affine (PWA) systems are widely used for modeling and control of robotics problems including modeling contact dynamics. A common approach is to encode the control problem of the PWA system as a Mixed-Integer Convex Program (MICP),…
In this paper, we propose an incremental abstraction method for dynamically over-approximating nonlinear systems in a bounded domain by solving a sequence of linear programs, resulting in a sequence of affine upper and lower hyperplanes…
Hybrid system identification is a key tool to achieve reliable models of Cyber-Physical Systems from data. PieceWise Affine models guarantees universal approximation, local linearity and equivalence to other classes of hybrid system. Still,…