Finite Horizon Density Steering for Multi-input State Feedback Linearizable Systems
Optimization and Control
2019-10-01 v2 Systems and Control
Systems and Control
Abstract
In this paper, we study the feedback synthesis problem for steering the joint state density or ensemble subject to multi-input state feedback linearizable dynamics. This problem is of interest to many practical applications including that of dynamically shaping a robotic swarm. Our results here show that it is possible to exploit the structural nonlinearities to derive the feedback controllers steering the joint density from a prescribed shape to another while minimizing the expected control effort to do so. The developments herein build on our previous work, and extend the theory of the Schr\"{o}dinger bridge problem subject to feedback linearizable dynamics.
Keywords
Cite
@article{arxiv.1909.12511,
title = {Finite Horizon Density Steering for Multi-input State Feedback Linearizable Systems},
author = {Kenneth F. Caluya and Abhishek Halder},
journal= {arXiv preprint arXiv:1909.12511},
year = {2019}
}