Harmonic Control Lyapunov Barrier Functions for Constrained Optimal Control with Reach-Avoid Specifications

arXiv:2310.02869v2 Announce Type: replace-cross
Abstract: This paper introduces harmonic control Lyapunov barrier functions (harmonic CLBF) that aid in constrained control problems such as reach-avoid problems. Harmonic CLBFs exploit the maximum principle that harmonic functions satisfy to encode the properties of control Lyapunov barrier functions (CLBFs). As a result, they can be initiated at the start of an experiment rather than trained based on sample trajectories. The control inputs are selected to maximize the inner product of the system dynamics with …

abstract arxiv control cs.lg encode exploit functions math.ap math.oc paper type