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Funnel-based Reachability Control of Unknown Nonlinear Systems using Gaussian Processes

Gorantla, S and Chatrola, J and Bhagiya, J and Saoud, A and Jagtap, P (2022) Funnel-based Reachability Control of Unknown Nonlinear Systems using Gaussian Processes. In: 8th Indian Control Conference, ICC 2022, 14-16 Dec 2022, Chennai, pp. 188-193.

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Official URL: https://doi.org/10.1109/ICC56513.2022.10093476


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.

Item Type: Conference Paper
Publication: 2022 8th Indian Control Conference, ICC 2022 - Proceedings
Publisher: Institute of Electrical and Electronics Engineers Inc.
Additional Information: The copyright for this article belongs to the Authors.
Keywords: Controllers; Gaussian distribution; Gaussian noise (electronic); Numerical methods, Controller synthesis; Gaussian Processes; Learn+; Probabilistic guarantees; Reachability; Unknown nonlinear systems, Dynamical systems
Department/Centre: Division of Interdisciplinary Sciences > Robert Bosch Centre for Cyber Physical Systems
Date Deposited: 14 Jun 2023 13:07
Last Modified: 14 Jun 2023 13:07
URI: https://eprints.iisc.ac.in/id/eprint/81921

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