Symbolic Optimal Control

DOI10.1109/TAC.2018.2863178zbMATH Open1482.49028arXiv1709.07333OpenAlexW3100135013MaRDI QIDQ5223731FDOQ5223731

Authors: Gunther Reißig, Matthias Rungger 

Publication date: 18 July 2019

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Abstract: We present novel results on the solution of a class of leavable, undiscounted optimal control problems in the minimax sense for nonlinear, continuous-state, discrete-time plants. The problem class includes entry-(exit-)time problems as well as minimum time, pursuit-evasion and reach-avoid games as special cases. We utilize auxiliary optimal control problems (`abstractions') to compute both upper bounds of the value function, i.e., of the achievable closed-loop performance, and symbolic feedback controllers realizing those bounds. The abstractions are obtained from discretizing the problem data, and we prove that the computed bounds and the performance of the symbolic controllers converge to the value function as the discretization parameters approach zero. In particular, if the optimal control problem is solvable on some compact subset of the state space, and if the discretization parameters are sufficiently small, then we obtain a symbolic feedback controller solving the problem on that subset. These results do not assume the continuity of the value function or any problem data, and they fully apply in the presence of hard state and control constraints.

Full work available at URL: https://arxiv.org/abs/1709.07333

Mathematics Subject Classification ID

Ordinary differential inclusions (34A60) Discrete version of topics in analysis (39A12) Optimality conditions for problems involving relations other than differential equations (49K21) Optimality conditions for minimax problems (49K35) Dynamic programming in optimal control and differential games (49L20)

Cited In (4)

• A computational study of optimal control of Markov jump systems
• Title not available (Why is that?)
• Least-violating symbolic controller synthesis for safety, reachability and attractivity specifications
• ABS: A formally correct software tool for space-efficient symbolic synthesis

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