Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control

Prithvi Akella,Wyatt Ubellacker,Aaron D. Ames,Prithvi Akella,Wyatt Ubellacker,Aaron D. Ames

Leveraging recent developments in black-box risk-aware verification, we provide three algorithms that generate probabilistic guarantees on (1) optimality of solutions, (2) recursive feasibility, and (3) maximum controller runtimes for general nonlinear safety-critical finite-time optimal controllers. These methods forego the usual (perhaps) restrictive assumptions required for typical theoretical ...