Exploiting Over-Approximation Errors as Preview Information for Nonlinear Control
Fuente:
arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866909032328986624 |
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| author | Aspeel, Antoine Girard, Antoine Lima, Thiago Alves |
| author_facet | Aspeel, Antoine Girard, Antoine Lima, Thiago Alves |
| contents | We study the control of nonlinear constrained systems via over-approximations. Our key observation is that the over-approximation error, rather than being an unknown disturbance, can be exploited as input-dependent preview information. This leads to the notion of informed policies, which depend on both the state and the error. We formulate the concretization problem -- recovering a valid input for the true system from a preview-based policy -- as a fixed-point equation. Existence of solutions follows from the Brouwer fixed-point theorem, while efficient computation is enabled through closed-form, linear, or convex programs for input-affine systems, and through an iterative method based on the Banach fixed-point theorem for nonlinear systems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_03577 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Exploiting Over-Approximation Errors as Preview Information for Nonlinear Control Aspeel, Antoine Girard, Antoine Lima, Thiago Alves Optimization and Control Systems and Control Dynamical Systems We study the control of nonlinear constrained systems via over-approximations. Our key observation is that the over-approximation error, rather than being an unknown disturbance, can be exploited as input-dependent preview information. This leads to the notion of informed policies, which depend on both the state and the error. We formulate the concretization problem -- recovering a valid input for the true system from a preview-based policy -- as a fixed-point equation. Existence of solutions follows from the Brouwer fixed-point theorem, while efficient computation is enabled through closed-form, linear, or convex programs for input-affine systems, and through an iterative method based on the Banach fixed-point theorem for nonlinear systems. |
| title | Exploiting Over-Approximation Errors as Preview Information for Nonlinear Control |
| topic | Optimization and Control Systems and Control Dynamical Systems |
| url | https://arxiv.org/abs/2511.03577 |