Funnel-based Reachability Control of Unknown Nonlinear Systems using Gaussian Processes
Systems and Control
2023-01-02 v1 Systems and Control
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.
Cite
@article{arxiv.2209.14015,
title = {Funnel-based Reachability Control of Unknown Nonlinear Systems using Gaussian Processes},
author = {Sandeep Gorantla and Jeel Chatrola and Jay Bhagiya and Adnane Saoud and Pushpak Jagtap},
journal= {arXiv preprint arXiv:2209.14015},
year = {2023}
}
Comments
Accepted in Indian Control Conference 2022