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arXiv · 2209.14015

Funnel-based Reachability Control of Unknown Nonlinear Systems using Gaussian Processes

Sandeep Gorantla·Jeel Chatrola·Jay Bhagiya·Adnane Saoud·Pushpak Jagtap
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Abstract

This paper aims to synthesize a reachability controller for an unknown dynamical system. We first learn the unknown system using Gaussian processes and the (probabilistic) guarantee on the learned model. Then we use the funnel-based controller synthesis approach using this approximated dynamical system to design the controller for a reachability specification. Finally, the merits of the proposed method are shown using a numerical example.

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Sandeep Gorantla, Jeel Chatrola, Jay Bhagiya, Adnane Saoud, Pushpak Jagtap. 2022-09-28. Funnel-based Reachability Control of Unknown Nonlinear Systems using Gaussian Processes. https://arxiv.org/abs/2209.14015

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