Convexified Open-Loop Stochastic Optimal Control for Linear Non-Gaussian Systems
英文摘要：
We consider stochastic optimal control of linear dynamical systems with additive non-Gaussian disturbance. We propose a novel, sampling-free approach, based on Fourier transformations and convex optimization, to cast the stochastic optimal control problem as a difference-of-convex program. In contrast to existing moment based approaches, our approach invokes higher moments, resulting in less conservatism. We employ piecewise affine approximations and the well-known convex-concave procedure, to efficiently solve the resulting optimization problem via standard conic solvers. We demonstrate that the proposed approach is computationally faster than existing particle based and moment based approaches, without compromising probabilistic safety constraints.
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