5 papers
ReLU Barrier Functions for Nonlinear Systems with Constrained Control: A Union of Invariant Sets Approach
Pouya Samanipour, Hasan A. Poonawala
Certifying safety for nonlinear systems with polytopic input constraints is challenging because CBF synthesis must ensure control admissibility under saturation. We propose an appr…
Geometric Conditions for Lossless Convexification in Linear Optimal Control with Discrete-Valued Inputs: Real-Time Implementation for Spacecraft Rendezvous
Felipe Arenas-Uribe, Hasan A. Poonawala, Jesse B. Hoagg
Optimal control problems with discrete-valued inputs are inherently challenging due to their mixed-integer nature, rendering them generally intractable for real-time, safety-critic…
SEROAISE: Advancing ROA Estimation for ReLU and PWA Dynamics through Estimating Certified Invariant Sets
Pouya Samanipour, Hasan Poonawala
This paper presents a novel framework for constructing the Region of Attraction (RoA) for dynamics derived either from Piecewise Affine (PWA) functions or from Neural Networks (NNs…
Replacing K-infinity Function with Leaky ReLU in Barrier Function Design: A Union of Invariant Sets Approach for ReLU-Based Dynamical Systems
Pouya Samanipour, Hasan Poonawala
In this paper, a systematic framework is presented for determining piecewise affine PWA barrier functions and their corresponding invariant sets for dynamical systems identified vi…
Invariant Set Estimation for Piecewise Affine Dynamical Systems Using Piecewise Affine Barrier Function
Pouya Samanipour, Hasan A. Poonawala
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 fun…