论文标题
通过切换确保未经认证的线性状态反馈控制器的安全
Ensuring the Safety of Uncertified Linear State-Feedback Controllers via Switching
论文作者
论文摘要
持续的研究工作已致力于学习具有未知参数的线性随机动力学系统的最佳控制器，但是由于噪声的损坏，学到的控制器通常未经认证，因为它们可能会破坏该系统的稳定。为了解决这种潜在的不稳定，我们向未认证的控制器提出了“插件”的修改，该控制器在国家的规范超过一定阈值时落回已知的稳定控制器。我们表明，即使基础线性反馈增益不稳定，开关策略也通过使线性季度成本限制来增强未经认证的控制器的安全性。我们还通过量化因渐近可忽略不计的最大绩效损失而证明了所提出的策略的近乎优势。最后，我们在工业过程示例上使用仿真来证明拟议的切换策略的有效性。
Sustained research efforts have been devoted to learning optimal controllers for linear stochastic dynamical systems with unknown parameters, but due to the corruption of noise, learned controllers are usually uncertified in the sense that they may destabilize the system. To address this potential instability, we propose a "plug-and-play" modification to the uncertified controller which falls back to a known stabilizing controller when the norm of the state exceeds a certain threshold. We show that the switching strategy enhances the safety of the uncertified controller by making the linear-quadratic cost bounded even if the underlying linear feedback gain is destabilizing. We also prove the near-optimality of the proposed strategy by quantifying the maximum performance loss caused by switching as asymptotically negligible. Finally, we demonstrate the effectiveness of the proposed switching strategy using simulation on an industrial process example.
