Safety-Constrained Optimal Control for Unknown System Dynamics
Fuente:
arXiv
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| Autores principales: | , |
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| Formato: | Preprint |
| Publicado: |
2026
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| _version_ | 1866908919518986240 |
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| author | Kounatidis, Panagiotis Malikopoulos, Andreas A. |
| author_facet | Kounatidis, Panagiotis Malikopoulos, Andreas A. |
| contents | In this paper, we present a framework for solving continuous optimal control problems when the true system dynamics are approximated through an imperfect model. We derive a control strategy by applying Pontryagin's Minimum Principle to the model-based Hamiltonian functional, which includes an additional penalty term that captures the deviation between the model and the true system. We then derive conditions under which this model-based strategy coincides with the optimal control strategy for the true system under mild convexity assumptions. We demonstrate the framework on a real robotic testbed for the cruise control application with safety distance constraints. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_27677 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Safety-Constrained Optimal Control for Unknown System Dynamics Kounatidis, Panagiotis Malikopoulos, Andreas A. Systems and Control In this paper, we present a framework for solving continuous optimal control problems when the true system dynamics are approximated through an imperfect model. We derive a control strategy by applying Pontryagin's Minimum Principle to the model-based Hamiltonian functional, which includes an additional penalty term that captures the deviation between the model and the true system. We then derive conditions under which this model-based strategy coincides with the optimal control strategy for the true system under mild convexity assumptions. We demonstrate the framework on a real robotic testbed for the cruise control application with safety distance constraints. |
| title | Safety-Constrained Optimal Control for Unknown System Dynamics |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2603.27677 |