Synthesis of Controllers for Partially-Observable Systems: A Data-Driven Approach

Jahanshahi, Niloofar und Zamani, Majid (2023): Synthesis of Controllers for Partially-Observable Systems: A Data-Driven Approach. 22nd World Congress of the International Federation of Automatic Control (IFAC), Yokohama, Japan, 09. -14. Juli 2023. Ishii, Hideaki; Ebihara, Yoshio; Imura, Jun-ichi und Yamakita, Masaki (Hrsg.): In: 22nd IFAC World Congress: proceedings, IFAC-PapersOnLine Bd. 56, Nr. 2 International Federation of Automatic Control ; Elsevier. S. 5525-5530

Abstract

This paper is concerned with the formal synthesis of safety controllers for partially-observable continuous-time polynomial-type systems with unknown dynamics. Given a continuous-time polynomial-type estimator with a partially-unknown dynamic and a known upper bound on the estimation accuracy, we propose a data-driven approach to compute a polynomial-type controller ensuring safety of the system. The proposed framework is based on a notion of so-called control barrier functions and only requires a single output trajectory collected from the system and a single state trajectory collected from its estimator. We show the application of our technique by synthesizing a safety controller for a partially-observable jet engine with unknown dynamics.

• Dokumententyp: Konferenzbeitrag (Paper)
• Fakultät: Mathematik, Informatik und Statistik > Informatik
• Themengebiete: 000 Informatik, Informationswissenschaft, allgemeine Werke > 004 Informatik
• ISSN: 2405-8963
• Sprache: Englisch