Invariant Set Estimation for Piecewise Affine Dynamical Systems Using Piecewise Affine Barrier Function

원문 초록

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 functions, particularly addressing the challenge of providing safety guarantees for ReLU networks commonly used in safety-critical applications. The invariant set of PWA dynamical system is estimated using ReLU networks or its equivalent PWA function. This method entails formulating the barrier function as a PWA function and converting the search process into a linear optimization problem using vertices. We incorporate a domain refinement strategy to increase flexibility in case the optimization does not find a valid barrier function. Moreover, the objective of optimization is to maximize the invariant set based on the current partition. Our experimental results demonstrate the effectiveness and efficiency of our approach, demonstrating its potential for ensuring the safety of PWA dynamical systems.