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Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control

Akella, Prithvi and Ubellacker, Wyatt and Ames, Aaron D. (2023) Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control. . (Unpublished)

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Leveraging recent developments in black-box risk-aware verification, we provide three algorithms that generate probabilistic guarantees on (1) optimality of solutions, (2) recursive feasibility, and (3) maximum controller runtimes for general nonlinear safety-critical finite-time optimal controllers. These methods forego the usual (perhaps) restrictive assumptions required for typical theoretical guarantees, e.g. terminal set calculation for recursive feasibility in Nonlinear Model Predictive Control, or convexification of optimal controllers to ensure optimality. Furthermore, we show that these methods can directly be applied to hardware systems to generate controller guarantees on their respective systems.

Item Type:Report or Paper (Discussion Paper)
Related URLs:
URLURL TypeDescription Paper
Akella, Prithvi0000-0003-4375-0015
Ubellacker, Wyatt0000-0002-4732-6185
Ames, Aaron D.0000-0003-0848-3177
Additional Information:Attribution 4.0 International (CC BY 4.0) This work was supported by the AFOSR Test and Evaluation Program, grant FA9550-19-1-0302.
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)FA9550-19-1-0302
Record Number:CaltechAUTHORS:20230316-204042522
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:120105
Deposited By: George Porter
Deposited On:16 Mar 2023 23:20
Last Modified:16 Mar 2023 23:20

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