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arXiv · 1705.09761

Stochastic Feedback Control of Systems with Unknown Nonlinear Dynamics

Dan Yu·Mohammadhussein Rafieisakhaei·Suman Chakravorty
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Abstract

This paper studies the stochastic optimal control problem for systems with unknown dynamics. First, an open-loop deterministic trajectory optimization problem is solved without knowing the explicit form of the dynamical system. Next, a Linear Quadratic Gaussian (LQG) controller is designed for the nominal trajectory-dependent linearized system, such that under a small noise assumption, the actual states remain close to the optimal trajectory. The trajectory-dependent linearized system is identified using input-output experimental data consisting of the impulse responses of the nominal system. A computational example is given to illustrate the performance of the proposed approach.

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BibTeXRIS

Dan Yu, Mohammadhussein Rafieisakhaei, Suman Chakravorty. 2017-05-27. Stochastic Feedback Control of Systems with Unknown Nonlinear Dynamics. https://arxiv.org/abs/1705.09761

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