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arXiv 2003.04861math.OC
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Fast, Convexified Stochastic Optimal Open-Loop Control For Linear Systems Using Empirical Characteristic Functions

Vignesh Sivaramakrishnan, Meeko M. K. Oishi

英文摘要:

We consider the problem of stochastic optimal control in the presence of an unknown disturbance. We characterize the disturbance via empirical characteristic functions, and employ a chance constrained approach. By exploiting properties of characteristic functions and underapproximating cumulative distribution functions, we can reformulate a nonconvex problem by a conic, convex under-approximation. This results in extremely fast solutions that are assured to maintain probabilistic constraints. We construct algorithms for optimal open-loop control using piecewise linear approximations of the empirical characteristic function, and demonstrate our approach on two examples.

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