Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Feasibility analysis and regularity characterization
of distributionally robust safe stabilizing
controllers
P. Mestres, K. Long, N. Atanasov, J. Cortés
IEEE Control Systems Letters 8 (2024), 91-96
Abstract
This paper studies the well-posedness and regularity
of safe stabilizing optimization-based controllers
for control-affine systems in the presence of model
uncertainty. When the system dynamics contain
unknown parameters, a finite set of samples can be
used to formulate distributionally robust versions
of control barrier function and control Lyapunov
function constraints. Control synthesis with such
distributionally robust constraints can be achieved
by solving a (convex) second-order cone program
(SOCP). We provide one necessary and two sufficient
conditions to check the feasibility of such
optimization problems, characterize their
computational complexity and numerically show that
they are significantly faster to check than direct
use of SOCP solvers. Finally, we also analyze the
regularity of the resulting control laws.
pdf
Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
Fax: 1-858-822-3107
cortes at ucsd.edu
Skype id:
jorgilliyo