Akella, Prithvi and Ubellacker, Wyatt and Ames, Aaron D. (2023) Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control. . (Unpublished) https://resolver.caltech.edu/CaltechAUTHORS:20230316-204042522
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Abstract
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) | ||||||||
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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. | ||||||||
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Record Number: | CaltechAUTHORS:20230316-204042522 | ||||||||
Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20230316-204042522 | ||||||||
Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||||
ID Code: | 120105 | ||||||||
Collection: | CaltechAUTHORS | ||||||||
Deposited By: | George Porter | ||||||||
Deposited On: | 16 Mar 2023 23:20 | ||||||||
Last Modified: | 16 Mar 2023 23:20 |
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