Extended Kalman filter – Koopman operator for tractable stochastic optimal control
CoRR(2024)
摘要
It has been more than seven decades since the introduction of the theory of
dual control . Although it has provided rich insights to
the fields of control, estimation, and system identification, dual control is
generally computationally prohibitive. In recent years, however, the use of
Koopman operator theory for control applications has been emerging. The paper
presents a new reformulation of the stochastic optimal control problem that,
employing the Koopman operator, yields a standard LQR problem with the dual
control as its solution. We conclude the paper with a numerical example that
demonstrates the effectiveness of the proposed approach, compared to certainty
equivalence control, when applied to systems with varying observability.
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