Distributionally Robust Planning with $\mathcal{L}_1$ Adaptive Control

摘要

Safe operation of autonomous systems requires robustness to both model uncertainty and uncertainty in the environment. We propose DRP-$\mathcal{L}_1$AC, a hierarchical framework for stochastic nonlinear systems that integrates distributionally robust model predictive control (DR-MPC) with $\mathcal{L}_1$-adaptive control. The key idea is to use the $\mathcal{L}_1$-adaptive controller's online distributional certificates that bound the Wasserstein distance between nominal and true state distributions, thereby certifying the ambiguity sets used for planning without requiring distribution samples. Environmental uncertainty is captured via data-driven ambiguity sets constructed from finite samples. These are incorporated into a DR-MPC planner enforcing distributionally robust chance constraints over a receding horizon. Using Wasserstein duality, the resulting problem admits tractable reformulations and a sample-based implementation. We show theoretically and via numerical experimentation that our framework ensures certifiable safety in the presence of simultaneous system and environmental uncertainties.