Policy Optimization over Submanifolds for Linearly Constrained Feedback Synthesis
Abstract
In this paper, we study linearly constrained policy optimization over the manifold of Schur stabilizing controllers, equipped with a Riemannian metric that emerges naturally in the context of optimal control problems. We provide extrinsic analysis of a generic constrained smooth cost function, that subsequently facilitates subsuming any such constrained problem into this framework. By studying the second order geometry of this manifold, we provide a Newton-type algorithm that does not rely on the exponential mapping nor a retraction, while ensuring local convergence guarantees. The algorithm hinges instead upon the developed stability certificate and the linear structure of the constraints. We then apply our methodology to two well-known constrained optimal control problems. Finally, several numerical examples showcase the performance of the proposed algorithm.
Cite
@article{arxiv.2201.11157,
title = {Policy Optimization over Submanifolds for Linearly Constrained Feedback Synthesis},
author = {Shahriar Talebi and Mehran Mesbahi},
journal= {arXiv preprint arXiv:2201.11157},
year = {2023}
}