TY - GEN
T1 - Optimal control of the state statistics for a linear stochastic system
AU - Chen, Yongxin
AU - Georgiou, Tryphon
AU - Pavon, Michele
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/2/8
Y1 - 2015/2/8
N2 - We consider a variant of the classical linear quadratic Gaussian regulator (LQG) in which penalties on the endpoint state are replaced by the specification of the terminal state distribution. The resulting theory considerably differs from LQG as well as from formulations that bound the probability of violating state constraints. We develop results for optimal state-feedback control in the two cases where i) steering of the state distribution is to take place over a finite window of time with minimum energy, and ii) the goal is to maintain the state at a stationary distribution over an infinite horizon with minimum power. For both problems the distribution of noise and state are Gaussian. In the first case, we show that provided the system is controllable, the state can be steered to any terminal Gaussian distribution over any specified finite time-interval. In the second case, we characterize explicitly the covariance of admissible stationary state distributions that can be maintained with constant state-feedback control. The conditions for optimality are expressed in terms of a system of dynamically coupled Riccati equations in the finite horizon case and in terms of algebraic conditions for the stationary case. In the case where the noise and control share identical input channels, the Riccati equations for finite-horizon steering become homogeneous and can be solved in closed form. The present paper is largely based on our recent work in [1], [2] and presents an overview of certain key results.
AB - We consider a variant of the classical linear quadratic Gaussian regulator (LQG) in which penalties on the endpoint state are replaced by the specification of the terminal state distribution. The resulting theory considerably differs from LQG as well as from formulations that bound the probability of violating state constraints. We develop results for optimal state-feedback control in the two cases where i) steering of the state distribution is to take place over a finite window of time with minimum energy, and ii) the goal is to maintain the state at a stationary distribution over an infinite horizon with minimum power. For both problems the distribution of noise and state are Gaussian. In the first case, we show that provided the system is controllable, the state can be steered to any terminal Gaussian distribution over any specified finite time-interval. In the second case, we characterize explicitly the covariance of admissible stationary state distributions that can be maintained with constant state-feedback control. The conditions for optimality are expressed in terms of a system of dynamically coupled Riccati equations in the finite horizon case and in terms of algebraic conditions for the stationary case. In the case where the noise and control share identical input channels, the Riccati equations for finite-horizon steering become homogeneous and can be solved in closed form. The present paper is largely based on our recent work in [1], [2] and presents an overview of certain key results.
KW - Linear stochastic systems
KW - covariance control
KW - stationary distributions
KW - stochastic optimal control
UR - http://www.scopus.com/inward/record.url?scp=84961987964&partnerID=8YFLogxK
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U2 - 10.1109/CDC.2015.7403245
DO - 10.1109/CDC.2015.7403245
M3 - Conference contribution
AN - SCOPUS:84961987964
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 6508
EP - 6515
BT - 54rd IEEE Conference on Decision and Control,CDC 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 54th IEEE Conference on Decision and Control, CDC 2015
Y2 - 15 December 2015 through 18 December 2015
ER -