Corpus ID: 214774768

Bayesian Safe Learning and Control with Sum-of-Squares Analysis and Polynomial Kernels

@article{Devonport2020BayesianSL,
  title={Bayesian Safe Learning and Control with Sum-of-Squares Analysis and Polynomial Kernels},
  author={Alex Devonport and He Yin and Murat Arcak},
  journal={ArXiv},
  year={2020},
  volume={abs/2004.00662}
}
  • Alex Devonport, He Yin, Murat Arcak
  • Published 2020
  • Computer Science, Engineering
  • ArXiv
  • We propose an iterative method to safely learn the unmodeled dynamics of a nonlinear system using Bayesian Gaussian process (GP) models with polynomial kernel functions. The method maintains safety by ensuring that the system state stays within the region of attraction (ROA) of a stabilizing control policy while collecting data. A quadratic programming based exploration control policy is computed to keep the exploration trajectory inside an inner-approximation of the ROA and to maximize the… CONTINUE READING

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