{"id":"https://openalex.org/W4380451419","doi":"https://doi.org/10.1109/lcsys.2023.3285616","title":"Differentially Flat Learning-Based Model Predictive Control Using a Stability, State, and Input Constraining Safety Filter","display_name":"Differentially Flat Learning-Based Model Predictive Control Using a Stability, State, and Input Constraining Safety Filter","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4380451419","doi":"https://doi.org/10.1109/lcsys.2023.3285616"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2023.3285616","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2023.3285616","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2307.10541","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030315406","display_name":"Adam W. Hall","orcid":"https://orcid.org/0000-0002-1461-923X"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Adam W. Hall","raw_affiliation_strings":["Learning Systems and Robotics Lab, University of Toronto Institute for Aerospace Studies, Toronto, Canada","Vector Institute for Artificial Intelligence, Toronto, Canada","STARS Lab, University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, Canada"],"affiliations":[{"raw_affiliation_string":"Learning Systems and Robotics Lab, University of Toronto Institute for Aerospace Studies, Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Vector Institute for Artificial Intelligence, Toronto, Canada","institution_ids":["https://openalex.org/I4210127509"]},{"raw_affiliation_string":"STARS Lab, University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019695635","display_name":"Melissa Greeff","orcid":"https://orcid.org/0000-0002-1708-3709"},"institutions":[{"id":"https://openalex.org/I204722609","display_name":"Queen's University","ror":"https://ror.org/02y72wh86","country_code":"CA","type":"education","lineage":["https://openalex.org/I204722609"]},{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Melissa Greeff","raw_affiliation_strings":["Vector Institute for Artificial Intelligence, Toronto, Canada","Robora Lab, Department of Electrical and Computer Engineering, Queen's University, Kingston, Canada"],"affiliations":[{"raw_affiliation_string":"Vector Institute for Artificial Intelligence, Toronto, Canada","institution_ids":["https://openalex.org/I4210127509"]},{"raw_affiliation_string":"Robora Lab, Department of Electrical and Computer Engineering, Queen's University, Kingston, Canada","institution_ids":["https://openalex.org/I204722609"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052147335","display_name":"Angela P. Schoellig","orcid":"https://orcid.org/0000-0003-4012-4668"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["CA","DE"],"is_corresponding":false,"raw_author_name":"Angela P. Schoellig","raw_affiliation_strings":["Learning Systems and Robotics Lab, University of Toronto Institute for Aerospace Studies, Toronto, Canada","Vector Institute for Artificial Intelligence, Toronto, Canada","Munich Institute for Robotics and Machine Intelligence (MIRMI), Munich, Germany","Learning Systems and Robotics Lab, Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Learning Systems and Robotics Lab, University of Toronto Institute for Aerospace Studies, Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Vector Institute for Artificial Intelligence, Toronto, Canada","institution_ids":["https://openalex.org/I4210127509"]},{"raw_affiliation_string":"Munich Institute for Robotics and Machine Intelligence (MIRMI), Munich, Germany","institution_ids":[]},{"raw_affiliation_string":"Learning Systems and Robotics Lab, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5030315406"],"corresponding_institution_ids":["https://openalex.org/I185261750","https://openalex.org/I4210127509"],"apc_list":null,"apc_paid":null,"fwci":1.8088,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.84842678,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"7","issue":null,"first_page":"2191","last_page":"2196"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7395002841949463},{"id":"https://openalex.org/keywords/flatness","display_name":"Flatness (cosmology)","score":0.6335756778717041},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5988328456878662},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5920238494873047},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5520416498184204},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.4869917333126068},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"Nonlinear control","score":0.46839284896850586},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4613632559776306},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.45301324129104614},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2809661328792572},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23089861869812012},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.18576174974441528},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10770347714424133}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7395002841949463},{"id":"https://openalex.org/C2778530986","wikidata":"https://www.wikidata.org/wiki/Q5457948","display_name":"Flatness (cosmology)","level":3,"score":0.6335756778717041},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5988328456878662},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5920238494873047},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5520416498184204},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.4869917333126068},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.46839284896850586},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4613632559776306},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.45301324129104614},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2809661328792572},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23089861869812012},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.18576174974441528},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10770347714424133},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lcsys.2023.3285616","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2023.3285616","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2307.10541","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2307.10541","pdf_url":"https://arxiv.org/pdf/2307.10541","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2307.10541","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2307.10541","pdf_url":"https://arxiv.org/pdf/2307.10541","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309949","display_name":"Canadian Institute for Advanced Research","ror":"https://ror.org/01sdtdd95"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4380451419.pdf"},"referenced_works_count":18,"referenced_works":["https://openalex.org/W48920821","https://openalex.org/W1571870753","https://openalex.org/W2065297540","https://openalex.org/W2166566250","https://openalex.org/W2396317032","https://openalex.org/W2563378438","https://openalex.org/W2619551236","https://openalex.org/W2749680651","https://openalex.org/W2909122662","https://openalex.org/W3043502726","https://openalex.org/W3105252106","https://openalex.org/W3131850807","https://openalex.org/W3185577250","https://openalex.org/W3195968524","https://openalex.org/W4210759921","https://openalex.org/W4211049957","https://openalex.org/W4292872153","https://openalex.org/W6791568727"],"related_works":["https://openalex.org/W2789295429","https://openalex.org/W2066314436","https://openalex.org/W2733767282","https://openalex.org/W2510927817","https://openalex.org/W2540573954","https://openalex.org/W2743501974","https://openalex.org/W2782313579","https://openalex.org/W164441596","https://openalex.org/W4230816919","https://openalex.org/W4298066662"],"abstract_inverted_index":{"Learning-based":[0],"optimal":[1,147],"control":[2,4,148,161],"algorithms":[3],"unknown":[5],"systems":[6,82,85],"using":[7],"past":[8],"trajectory":[9],"data":[10],"and":[11,105,122,163,178,181],"a":[12,23,53,78,91,102,109,137],"learned":[13,28,100],"model":[14,139],"of":[15,26,80],"the":[16,27,96],"system":[17],"dynamics.":[18],"These":[19],"controllers":[20,68],"use":[21],"either":[22],"linear":[24],"approximation":[25],"dynamics,":[29],"trading":[30],"performance":[31,64],"for":[32],"faster":[33],"computation,":[34],"or":[35],"nonlinear":[36,55,84,92,97,145],"optimization":[37],"methods,":[38],"which":[39],"typically":[40],"perform":[41,143],"better":[42,170],"but":[43,69,167],"can":[44,86],"limit":[45],"real-time":[46],"applicability.":[47],"In":[48],"this":[49],"work,":[50],"we":[51],"present":[52],"novel":[54],"controller":[56,141],"that":[57,112],"exploits":[58],"differential":[59],"flatness":[60,76],"to":[61,65,133,142,158],"achieve":[62,164],"similar":[63,165],"state-of-the-art":[66,159],"learning-based":[67,146,160],"with":[70,114,168],"significantly":[71,169],"less":[72],"computational":[73,171],"effort.":[74],"Differential":[75],"is":[77,99,106,130],"property":[79],"dynamical":[81],"whereby":[83],"be":[87],"exactly":[88],"linearized":[89],"through":[90,149],"input":[93,121,179],"mapping.":[94],"Here,":[95],"transformation":[98],"as":[101,118,120],"Gaussian":[103],"process":[104],"used":[107,132],"in":[108],"safety":[110,128],"filter":[111,129],"guarantees,":[113],"high":[115],"probability,":[116],"stability":[117],"well":[119],"flat":[123,138,176],"state":[124,177],"constraint":[125],"satisfaction.":[126],"This":[127],"then":[131],"refine":[134],"inputs":[135],"from":[136],"predictive":[140],"constrained":[144],"two":[150],"successive":[151],"convex":[152],"optimizations.":[153],"We":[154],"compare":[155],"our":[156],"method":[157],"strategies":[162],"performance,":[166],"efficiency,":[172],"while":[173],"also":[174],"respecting":[175],"constraints,":[180],"guaranteeing":[182],"stability.":[183]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3}],"updated_date":"2026-04-14T08:04:32.555800","created_date":"2025-10-10T00:00:00"}