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

Etienne Bertin (1, 2) , Elliot Brendel (2) , Bruno Hérissé (2) , Julien Alexandre Dit Sandretto (1) , Alexandre Chapoutot (1)

1 ENSTA ParisTech UCP, Institut Polytechnique Paris, 828 bd des Maréchaux, 91762 Palaiseau cedex France
2 DTIS, ONERA, Université Paris Saclay [Palaiseau]

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.

Mots clés: Optimal Control; Interval Arithmetic; Bounded Uncertainties; Penalization

Domaines: Sciences de l'ingénieur [physics]; Physique [physics]; Mathématiques [math]; Informatique [cs]

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, 2021, pp.1-25. ⟨10.14232/actacyb.285798⟩. ⟨hal-03142715⟩