An LMI framework for contraction-based nonlinear control design by derivatives of Gaussian process regression

DOI10.1016/J.AUTOMATICA.2023.110928MaRDI QIDQ6164037zbMATH OpenFDO

Authors Yu Kawano, Kenji Kashima

Publication date 30 June 2023

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2301.08398

zbMATH Keywords

Gaussian process regressiondiscrete-time systemsnonlinear systemsstochastic systemscontraction analysis

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Discrete-time control/observation systems (93C55) Stochastic systems in control theory (general) (93E03)

Abstract: Contraction theory formulates the analysis of nonlinear systems in terms of Jacobian matrices. Although this provides the potential to develop a linear matrix inequality (LMI) framework for nonlinear control design, conditions are imposed not on controllers but on their partial derivatives, which makes control design challenging. In this paper, we illustrate this so-called integrability problem can be solved by a non-standard use of Gaussian process regression (GPR) for parameterizing controllers and then establish an LMI framework of contraction-based control design for nonlinear discrete-time systems, as an easy-to-implement tool. Later on, we consider the case where the drift vector fields are unknown and employ GPR for functional fitting as its standard use. GPR describes learning errors in terms of probability, and thus we further discuss how to incorporate stochastic learning errors into the proposed LMI framework.

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