Related papers: ReLU Networks for Model Predictive Control: Networ…
Model predictive control (MPC) is a powerful control method that handles dynamical systems with constraints. However, solving MPC iteratively in real time, i.e., implicit MPC, remains a computational challenge. To address this, common…
The pharmaceutical industry has witnessed exponential growth in transforming operations towards continuous manufacturing to effectively achieve increased profitability, reduced waste, and extended product range. Model Predictive Control…
This paper studies the approximation property of ReLU neural networks (NNs) to piecewise constant functions with unknown interfaces in bounded regions in $\mathbb{R}^d$. Under the assumption that the discontinuity interface $\Gamma$ may be…
Due to their susceptibility to adversarial perturbations, neural networks (NNs) are hardly used in safety-critical applications. One measure of robustness to such perturbations in the input is the Lipschitz constant of the input-output map…
We investigate to what extent it is possible to solve linear inverse problems with $ReLu$ networks. Due to the scaling invariance arising from the linearity, an optimal reconstruction function $f$ for such a problem is positive homogeneous,…
Model Predictive Control (MPC) is a powerful control strategy; however, its reliance on online optimization poses significant challenges for implementation on systems with limited computational resources. One possible approach to address…
We can compare the expressiveness of neural networks that use rectified linear units (ReLUs) by the number of linear regions, which reflect the number of pieces of the piecewise linear functions modeled by such networks. However,…
In this paper, we propose a novel framework for approximating the explicit MPC policy for linear parameter-varying systems using supervised learning. Our learning scheme guarantees feasibility and near-optimality of the approximated MPC…
While metric and similarity learning has been extensively studied from several theoretical perspectives, a rigorous understanding of its generalization performance is still lacking. In this paper, we investigate the generalization behavior…
Optimality is a critical aspect of Model Predictive Control (MPC), especially in economic MPC. However, achieving optimality in MPC presents significant challenges, and may even be impossible, due to inherent inaccuracies in the predictive…
Deep networks are gradually penetrating almost every domain in our lives due to their amazing success. However, with substantive performance accuracy improvements comes the price of \emph{irreproducibility}. Two identical models, trained on…
In this paper, we consider the problem of repairing a data-trained Rectified Linear Unit (ReLU) Neural Network (NN) controller for a discrete-time, input-affine system. That is we assume that such a NN controller is available, and we seek…
Rectified Linear Units (ReLUs) have been shown to ameliorate the vanishing gradient problem, allow for efficient backpropagation, and empirically promote sparsity in the learned parameters. They have led to state-of-the-art results in a…
Neural networks with the Rectified Linear Unit (ReLU) nonlinearity are described by a vector of parameters $\theta$, and realized as a piecewise linear continuous function $R_{\theta}: x \in \mathbb R^{d} \mapsto R_{\theta}(x) \in \mathbb…
Robust optimal or min-max model predictive control (MPC) approaches aim to guarantee constraint satisfaction over a known, bounded uncertainty set while minimizing a worst-case performance bound. Traditionally, these methods compute a…
This paper presents an uncertainty compensation-based robust adaptive model predictive control (MPC) framework for linear systems with both matched and unmatched nonlinear uncertainties subject to both state and input constraints. In…
Although neural networks (NNs) with ReLU activation functions have found success in a wide range of applications, their adoption in risk-sensitive settings has been limited by the concerns on robustness and interpretability. Previous works…
A Learning Model Predictive Controller (LMPC) for linear system in presented. The proposed controller is an extension of the LMPC [1] and it aims to decrease the computational burden. The control scheme is reference-free and is able to…
We investigate the effect of explicitly enforcing the Lipschitz continuity of neural networks with respect to their inputs. To this end, we provide a simple technique for computing an upper bound to the Lipschitz constant---for multiple…
Neural Networks (NNs) can provide major empirical performance improvements for closed-loop systems, but they also introduce challenges in formally analyzing those systems' safety properties. In particular, this work focuses on estimating…