ReLU neural networks approximate transformed constraints in flat systems as unions of polytopes, enabling mixed-integer programming for guaranteed constraint satisfaction in CLF-based and MPC designs for nonlinear systems.
In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp
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An ANN-Enhanced Approach for Flatness-Based Constrained Control of Nonlinear Systems
ReLU neural networks approximate transformed constraints in flat systems as unions of polytopes, enabling mixed-integer programming for guaranteed constraint satisfaction in CLF-based and MPC designs for nonlinear systems.