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.

中文翻译：

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学习具有屏障证书的安全神经网络控制器

我们提供了一种新的方法来合成具有安全特性控制的非线性连续动态系统的控制器。控制器基于神经网络 (NN)。为了证明安全性，我们使用了障碍函数，也由 NN 表示。我们同时训练controller-NN和barrier-NN，实现了验证在环综合。我们提供了一个原型工具 nncontroller 和一些案例研究。实验结果证实了我们方法的可行性和有效性。