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Prospects on Solving an Optimal Control Problem with Bounded Uncertainties on Parameters using Interval Arithmetics

Abstract : An interval method based on Pontryagin's Minimum Principle is proposed to enclose the solutions of an optimal control problem with embedded bounded uncertainties. This method is used to compute an enclosure of all optimal trajectories of the problem, as well as open loop and closed loop enclosures meant to validate an optimal guidance algorithm on a concrete system with inaccurate knowledge of the parameters. The differences in geometry of these enclosures are exposed, and showcased on a simple system. These enclosures can guarantee that a given optimal control problem will yield a satisfactory trajectory for any realization of the uncertainties. Contrarily, the probability of failure may not be eliminated and the problem might need to be adjusted.
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https://hal.archives-ouvertes.fr/hal-03142715
Contributor : Christine Grec <>
Submitted on : Tuesday, February 16, 2021 - 11:35:08 AM
Last modification on : Saturday, May 1, 2021 - 3:47:26 AM
Long-term archiving on: : Monday, May 17, 2021 - 7:02:26 PM

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Etienne Bertin, Elliot Brendel, Bruno Hérissé, Julien Alexandre Dit Sandretto, Alexandre Chapoutot. Prospects on Solving an Optimal Control Problem with Bounded Uncertainties on Parameters using Interval Arithmetics. Acta Cybernetica, University of Szeged, Institute of Informatics, 2021, pp.1-25. ⟨10.14232/actacyb.285798⟩. ⟨hal-03142715⟩

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