Safe Non-Stochastic Control of Control-Affine Systems: An Online Convex Optimization Approach

摘要

We study how to safely control nonlinear control-affine systems that are corrupted with bounded <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">non-stochastic noise</i> , i.e., noise that is unknown a priori and that is <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">not</u> necessarily governed by a stochastic model. We focus on safety constraints that take the form of time-varying convex constraints such as collision-avoidance and control-effort constraints. We provide an algorithm with bounded <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">dynamic regret</i> , i.e., bounded suboptimality against an optimal clairvoyant controller that knows the realization of the noise a priori. We are motivated by the future of autonomy where robots will autonomously perform complex tasks despite real-world unpredictable disturbances such as wind gusts. To develop the algorithm, we capture our problem as a sequential game between a controller and an adversary, where the controller plays first, choosing the control input, whereas the adversary plays second, choosing the noise's realization. The controller aims to minimize its cumulative tracking error despite being unable to know the noise's realization a priori. We validate our algorithm in simulated scenarios of (i) an inverted pendulum aiming to stay upright, and (ii) a quadrotor aiming to fly to a goal location through an unknown cluttered environment.