Robust Nonlinear Optimal Control via System Level Synthesis

Understand

This paper addresses the problem of finite horizon constrained robust optimal control for nonlinear systems subject to norm-bounded disturbances.

• To this end, the underlying uncertain nonlinear system is decomposed based on a first-order Taylor series expansion into a nominal system and an error (deviation) described as an uncertain linear time-varying system.
• This decomposition allows us to leverage system level synthesis to jointly optimize an affine error feedback, a nominal nonlinear trajectory, and, most importantly, a dynamic linearization error over-bound used to ensure robust constraint satisfaction for the nonlinear system.
• The proposed approach thereby results in less conservative planning compared with state-of-the-art techniques.