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research article

Distributionally robust infinite-horizon control: from a pool of samples to the design of dependable controllers

Brouillon, Jean-Sébastien  
•
Martin, Andrea  
•
Lygeros, John
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April 14, 2025
IEEE Transactions on Automatic Control

We study control of constrained linear systems with only partial statistical information about the uncertainty affecting the system dynamics and the sensor measurements. Specifically, given a finite collection of disturbance realizations drawn from a generic distribution, we consider the problem of designing a stabilizing control policy with provable safety and performance guarantees despite the mismatch between the empirical and true distributions. We capture this discrepancy using Wasserstein ambiguity sets, and we formulate a distributionally robust (DR) optimal control problem, which provides guarantees on the expected cost, safety, and stability of the system. To solve this problem, we first present new results for Wasserstein DR optimization of quadratic objectives with additional bounded support constraints, showing that strong duality holds under mild conditions. Then, by combining our results with the system-level parametrization of linear feedback policies, we show that the design problem can be reduced to a semidefinite program. We present numerical simulations to validate the effectiveness of our approach and to highlight the value of centering the ambiguity set at the empirical distribution for control design.

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Type
research article
DOI
10.1109/tac.2025.3560542
Author(s)
Brouillon, Jean-Sébastien  

École Polytechnique Fédérale de Lausanne

Martin, Andrea  

EPFL

Lygeros, John

Department of Information Technology and Electrical Engineering, ETH Zürich, Switzerland

Dörfler, Florian

Department of Information Technology and Electrical Engineering, ETH Zürich, Switzerland

Ferrari Trecate, Giancarlo  

EPFL

Date Issued

2025-04-14

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Published in
IEEE Transactions on Automatic Control
Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
SCI-STI-GFT  
Available on Infoscience
May 7, 2025
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/249906
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