Funnel-based Reachability Control of Unknown Nonlinear Systems using Gaussian Processes
Sandeep Gorantla, Jeel Chatrola, Jay Bhagiya, Adnane Saoud, Pushpak Jagtap · 2022
This paper aims to synthesize a reachability controller for an unknown dynamical system. We first learn the unknown system using Gaussian processes and the (probabilistic) guarantee on the learned model. Then we use the funnel-based controller synthesis approach using this approximated dynamical system to design the controller for a reachability specification. Finally, the merits of the proposed method are shown using a numerical example.