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Abstract

This work addresses the problem of optimally steering the state covariance of a linear stochastic system from an initial to a target, subject to hybrid transitions. The nonlinear and discontinuous jump dynamics complicate the control design for hybrid systems. Under uncertainties, stochastic jump timing and state variations further intensify this challenge. This work aims to regulate the hybrid system's state trajectory to stay close to a nominal deterministic one, despite uncertainties and noises. We address this problem by directly controlling state covariances around a mean trajectory, and this problem is termed the Hybrid Covariance Steering (H-CS) problem. The jump dynamics are approximated to the first order by leveraging the Saltation Matrix. When the jump dynamics are nonsingular, we derive an analytical closed-form solution to the H-CS problem. For general jump dynamics with possible singularity and changes in the state dimensions, we reformulate the problem into a convex optimization over path distributions by leveraging Schrodinger's Bridge duality to the smooth covariance control problem. The covariance propagation at hybrid events is enforced as equality constraints to handle singularity issues. The proposed convex framework scales linearly with the number of jump events, ensuring efficient, optimal solutions. This work thus provides a computationally efficient solution to the general H-CS problem. Numerical experiments are conducted to validate the proposed method.

Details

1009240
Title
Optimal Covariance Steering of Linear Stochastic Systems with Hybrid Transitions
Publication title
arXiv.org; Ithaca
Publication year
2024
Publication date
Oct 17, 2024
Section
Computer Science; Electrical Engineering and Systems Science; Mathematics
Publisher
Cornell University Library, arXiv.org
Source
arXiv.org
Place of publication
Ithaca
Country of publication
United States
University/institution
Cornell University Library arXiv.org
e-ISSN
2331-8422
Source type
Working Paper
Language of publication
English
Document type
Working Paper
Publication history
 
 
Online publication date
2024-10-18
Milestone dates
2024-10-17 (Submission v1)
Publication history
 
 
   First posting date
18 Oct 2024
ProQuest document ID
3118115758
Document URL
https://www.proquest.com/working-papers/optimal-covariance-steering-linear-stochastic/docview/3118115758/se-2?accountid=40258
Full text outside of ProQuest
Copyright
© 2024. This work is published under http://arxiv.org/licenses/nonexclusive-distrib/1.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.
Last updated
2025-03-11
Database
Publicly Available Content Database