5 papers
On the Value Function of Infinite-Horizon Optimal Control of Piecewise Affine Systems
Francesco Cordiano, Kanghui He, Bart De Schutter
In this paper, we study the structure of the value function in constrained infinite-time optimal control (CITOC) problems of piecewise affine (PWA) systems, with or $\ell_…
Learning-Based Stochastic Optimal Control with Infinite-Horizon Probabilistic Constraints
Francesco Cordiano, Kanghui He, Bart De Schutter
In this paper, we consider stochastic optimal control problems with infinite-horizon joint chance constraints. By means of an appropriate state augmentation, we reformulate the ori…
Predictive control barrier functions for piecewise affine systems with non-smooth constraints
Kanghui He, Anil Alan, Shengling Shi +2
Obtaining control barrier functions (CBFs) with large safe sets for complex nonlinear systems and constraints is a challenging task. Predictive CBFs address this issue by using an…
Learning State-Action Control Barrier Functions for Model-Free Control under Constraints
Kanghui He, Shengling Shi, Ton van den Boom +1
Ensuring constraint satisfaction for learning-based control is a critical challenge, especially in the model-free case. While safety filters address this challenge in the model-bas…
State-action control barrier functions: Imposing safety on learning-based control with low online computational costs
Kanghui He, Shengling Shi, Ton van den Boom +1
Learning-based control with safety guarantees usually requires real-time safety certification and modifications of possibly unsafe learning-based policies. The control barrier func…