Corpus ID: 211296627

Neural Lyapunov Model Predictive Control

@article{Mittal2020NeuralLM,
  title={Neural Lyapunov Model Predictive Control},
  author={Mayank K. Mittal and Marco Gallieri and A. Quaglino and Seyed Sina Mirrazavi Salehian and Jan Koutn'ik},
  journal={ArXiv},
  year={2020},
  volume={abs/2002.10451}
}
This paper presents Neural Lyapunov MPC, an algorithm to alternately train a Lyapunov neural network and a stabilising constrained Model Predictive Controller (MPC), given a neural network model of the system dynamics. This extends recent works on Lyapunov networks to be able to train solely from expert demonstrations of one-step transitions. The learned Lyapunov network is used as the value function for the MPC in order to guarantee stability and extend the stable region. Formal results are… Expand
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