{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/differentially-flat-learning-based-model","title":"Differentially Flat Learning-based Model Predictive Control Using a Stability, State, and Input Constraining Safety Filter","arxiv_id":"2307.10541","date":"2023-07-20","proceeding":null,"authors":["Adam W. Hall","Melissa Greeff","Angela P. Schoellig"],"abstract":"Learning-based optimal control algorithms control unknown systems using past trajectory data and a learned model of the system dynamics. These controllers use either a linear approximation of the learned dynamics, trading performance for faster computation, or nonlinear optimization methods, which typically perform better but can limit real-time applicability. In this work, we present a novel nonlinear controller that exploits differential flatness to achieve similar performance to state-of-the-art learning-based controllers but with significantly less computational effort. Differential flatness is a property of dynamical systems whereby nonlinear systems can be exactly linearized through a nonlinear input mapping. Here, the nonlinear transformation is learned as a Gaussian process and is used in a safety filter that guarantees, with high probability, stability as well as input and flat state constraint satisfaction. This safety filter is then used to refine inputs from a flat model predictive controller to perform constrained nonlinear learning-based optimal control through two successive convex optimizations. We compare our method to state-of-the-art learning-based control strategies and achieve similar performance, but with significantly better computational efficiency, while also respecting flat state and input constraints, and guaranteeing stability.","url_abs":"https://arxiv.org/abs/2307.10541v1","url_pdf":"https://arxiv.org/pdf/2307.10541v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"differentially-flat-learning-based-model","repo_url":"https://github.com/utiasdsl/fmpc_socp","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"computational-efficiency","task_name":"Computational Efficiency"},{"task_slug":"model-predictive-control","task_name":"Model Predictive Control"}],"methods":[{"method_slug":"gaussian-process","method_name":"Gaussian Process"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}