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Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Actuation Uncertainty

Taylor, Andrew J. and Dorobantu, Victor D. and Dean, Sarah and Recht, Benjamin and Yue, Yisong and Ames, Aaron D. (2021) Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Actuation Uncertainty. In: 2021 60th IEEE Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 6469-6476. ISBN 978-1-6654-3659-5. https://resolver.caltech.edu/CaltechAUTHORS:20210120-165235061

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Abstract

Modern nonlinear control theory seeks to endow systems with properties such as stability and safety, and has been deployed successfully across various domains. Despite this success, model uncertainty remains a significant challenge in ensuring that model-based controllers transfer to real world systems. This paper develops a data-driven approach to robust control synthesis in the presence of model uncertainty using Control Certificate Functions (CCFs), resulting in a convex optimization based controller for achieving properties like stability and safety. An important benefit of our framework is nuanced data-dependent guarantees, which in principle can yield sample-efficient data collection approaches that need not fully determine the input-to-state relationship. This work serves as a starting point for addressing important questions at the intersection of nonlinear control theory and non-parametric learning, both theoretical and in application. We demonstrate the efficiency of the proposed method with respect to input data in simulation with an inverted pendulum in multiple experimental settings.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/CDC45484.2021.9683511DOIArticle
https://arxiv.org/abs/2011.10730arXivDiscussion Paper
ORCID:
AuthorORCID
Taylor, Andrew J.0000-0002-5990-590X
Recht, Benjamin0000-0002-0293-593X
Yue, Yisong0000-0001-9127-1989
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2021 IEEE.
DOI:10.1109/CDC45484.2021.9683511
Record Number:CaltechAUTHORS:20210120-165235061
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20210120-165235061
Official Citation:A. J. Taylor, V. D. Dorobantu, S. Dean, B. Recht, Y. Yue and A. D. Ames, "Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Actuation Uncertainty," 2021 60th IEEE Conference on Decision and Control (CDC), 2021, pp. 6469-6476, doi: 10.1109/CDC45484.2021.9683511
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:107611
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:21 Jan 2021 15:38
Last Modified:15 Feb 2022 23:25

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