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arXiv · 2603.27677

Safety-Constrained Optimal Control for Unknown System Dynamics

Panagiotis Kounatidis·Andreas A. Malikopoulos
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Abstract

In this paper, we present a framework for solving continuous optimal control problems when the true system dynamics are approximated through an imperfect model. We derive a control strategy by applying Pontryagin's Minimum Principle to the model-based Hamiltonian functional, which includes an additional penalty term that captures the deviation between the model and the true system. We then derive conditions under which this model-based strategy coincides with the optimal control strategy for the true system under mild convexity assumptions. We demonstrate the framework on a real robotic testbed for the cruise control application with safety distance constraints.

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Panagiotis Kounatidis, Andreas A. Malikopoulos. 2026-03-29. Safety-Constrained Optimal Control for Unknown System Dynamics. https://arxiv.org/abs/2603.27677

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