Learning safe neural network controllers with barrier certificates

Zhao, H. and Zeng, X. and Chen, Taolue and Liu, Z. and Woodcock, J. (2021) Learning safe neural network controllers with barrier certificates. Formal Aspects of Computing 33 (3), pp. 437-455. ISSN 0934-5043.

Abstract

We provide a new approach to synthesize controllers for nonlinear continuous dynamical systems with control against safety properties. The controllers are based on neural networks (NNs). To certify the safety property we utilize barrier functions, which are represented by NNs as well. We train the controller-NN and barrier-NN simultaneously, achieving a verification-in-the-loop synthesis. We provide a prototype tool nncontroller with a number of case studies. The experiment results confirm the feasibility and efficacy of our approach.

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