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

2022/09/28 by Gorantla, Sandeep, Chatrola, Jeel, Bhagiya, Jay +2 · 1 citation
#93-06 #FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · doi:10.48550/arxiv.2209.14015

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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