Dual Particle Output Feedback Control based on Lyapunov drifts for nonlinear systems

Emilien Flayac; Karim Dahia; Bruno Herisse; Frederic Jean

doi:10.1109/CDC.2018.8619640

Dual Particle Output Feedback Control based on Lyapunov drifts for nonlinear systems

Emilien Flayac, Karim Dahia, Bruno Herisse, Frederic Jean

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper presents a dual receding horizon output feedback controller for a general non linear stochastic system with imperfect information. The novelty of this controller is that stabilization is treated, inside the optimization problem, as a negative drift constraint on the control that is taken from the theory of stability of Markov chains. The dual effect is then created by maximizing information over the stabilizing controls which makes the global algorithm easier to tune than our previous algorithm. We use a particle filter for state estimation to handle nonlinearities and multimodality. The performance of this method is demonstrated on the challenging problem of terrain aided navigation.

Original language	English
Title of host publication	2018 IEEE Conference on Decision and Control, CDC 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	250-255
Number of pages	6
ISBN (Electronic)	9781538613955
DOIs	https://doi.org/10.1109/CDC.2018.8619640
Publication status	Published - 2 Jul 2018
Event	57th IEEE Conference on Decision and Control, CDC 2018 - Miami, United States Duration: 17 Dec 2018 → 19 Dec 2018

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	2018-December
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	57th IEEE Conference on Decision and Control, CDC 2018
Country/Territory	United States
City	Miami
Period	17/12/18 → 19/12/18

Access to Document

10.1109/CDC.2018.8619640

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Flayac, E., Dahia, K., Herisse, B., & Jean, F. (2018). Dual Particle Output Feedback Control based on Lyapunov drifts for nonlinear systems. In 2018 IEEE Conference on Decision and Control, CDC 2018 (pp. 250-255). Article 8619640 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2018-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2018.8619640

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title = "Dual Particle Output Feedback Control based on Lyapunov drifts for nonlinear systems",

abstract = "This paper presents a dual receding horizon output feedback controller for a general non linear stochastic system with imperfect information. The novelty of this controller is that stabilization is treated, inside the optimization problem, as a negative drift constraint on the control that is taken from the theory of stability of Markov chains. The dual effect is then created by maximizing information over the stabilizing controls which makes the global algorithm easier to tune than our previous algorithm. We use a particle filter for state estimation to handle nonlinearities and multimodality. The performance of this method is demonstrated on the challenging problem of terrain aided navigation.",

author = "Emilien Flayac and Karim Dahia and Bruno Herisse and Frederic Jean",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 57th IEEE Conference on Decision and Control, CDC 2018 ; Conference date: 17-12-2018 Through 19-12-2018",

year = "2018",

month = jul,

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doi = "10.1109/CDC.2018.8619640",

language = "English",

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Flayac, E, Dahia, K, Herisse, B & Jean, F 2018, Dual Particle Output Feedback Control based on Lyapunov drifts for nonlinear systems. in 2018 IEEE Conference on Decision and Control, CDC 2018., 8619640, Proceedings of the IEEE Conference on Decision and Control, vol. 2018-December, Institute of Electrical and Electronics Engineers Inc., pp. 250-255, 57th IEEE Conference on Decision and Control, CDC 2018, Miami, United States, 17/12/18. https://doi.org/10.1109/CDC.2018.8619640

Dual Particle Output Feedback Control based on Lyapunov drifts for nonlinear systems. / Flayac, Emilien; Dahia, Karim; Herisse, Bruno et al.
2018 IEEE Conference on Decision and Control, CDC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 250-255 8619640 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2018-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Dual Particle Output Feedback Control based on Lyapunov drifts for nonlinear systems

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AU - Dahia, Karim

AU - Herisse, Bruno

AU - Jean, Frederic

PY - 2018/7/2

Y1 - 2018/7/2

N2 - This paper presents a dual receding horizon output feedback controller for a general non linear stochastic system with imperfect information. The novelty of this controller is that stabilization is treated, inside the optimization problem, as a negative drift constraint on the control that is taken from the theory of stability of Markov chains. The dual effect is then created by maximizing information over the stabilizing controls which makes the global algorithm easier to tune than our previous algorithm. We use a particle filter for state estimation to handle nonlinearities and multimodality. The performance of this method is demonstrated on the challenging problem of terrain aided navigation.

AB - This paper presents a dual receding horizon output feedback controller for a general non linear stochastic system with imperfect information. The novelty of this controller is that stabilization is treated, inside the optimization problem, as a negative drift constraint on the control that is taken from the theory of stability of Markov chains. The dual effect is then created by maximizing information over the stabilizing controls which makes the global algorithm easier to tune than our previous algorithm. We use a particle filter for state estimation to handle nonlinearities and multimodality. The performance of this method is demonstrated on the challenging problem of terrain aided navigation.

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M3 - Conference contribution

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T3 - Proceedings of the IEEE Conference on Decision and Control

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BT - 2018 IEEE Conference on Decision and Control, CDC 2018

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T2 - 57th IEEE Conference on Decision and Control, CDC 2018

Y2 - 17 December 2018 through 19 December 2018

ER -

Dual Particle Output Feedback Control based on Lyapunov drifts for nonlinear systems

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