Neural Lyapunov Model Predictive Control

by   Mayank Mittal, et al.

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 presented on the existence of a set of MPC parameters, such as discount factors, that guarantees stability with a horizon as short as one. Robustness margins are also discussed and existing performance bounds on value function MPC are extended to the case of imperfect models. The approach is tested on unstable non-linear continuous control tasks with hard constraints. Results demonstrate that, when a neural network trained on short sequences is used for predictions, a one-step horizon Neural Lyapunov MPC can successfully reproduce the expert behaviour and significantly outperform longer horizon MPCs.


page 8

page 26

page 27


The Value of Planning for Infinite-Horizon Model Predictive Control

Model Predictive Control (MPC) is a classic tool for optimal control of ...

Learning an Approximate Model Predictive Controller with Guarantees

A supervised learning framework is proposed to approximate a model predi...

Neural Network Based Explicit MPC for Chemical Reactor Control

In this paper, we show the implementation of deep neural networks applie...

Large Scale Model Predictive Control with Neural Networks and Primal Active Sets

This work presents an explicit-implicit procedure that combines an offli...

Robust Learning-based Predictive Control for Constrained Nonlinear Systems

The integration of machine learning methods and Model Predictive Control...

A Neural-Network-Based Model Predictive Control of Three-Phase Inverter With an Output LC Filter

Model predictive control (MPC) has become one of the well-established mo...

V-Formation via Model Predictive Control

We present recent results that demonstrate the power of viewing the prob...

Please sign up or login with your details

Forgot password? Click here to reset