occupation measures

Solving unbounded optimal control problems with the moment-SOS hierarchy

  • Karolina Sehnalova
  • Didier Henrion
  • Milan Korda
  • Martin Kružík
    • Categories Linear, Cone and Semidefinite Programming, Semi-definite Programming Tags , , , ,

    The behaviour of the moment-sums-of-squares (moment-SOS) hierarchy for polynomial optimal control problems on compact sets has been explored to a large extent. Our contribution focuses on the case of non-compact control sets. We describe a new approach to optimal control problems with unbounded controls, using compactification by partial homogenization, leading to an equivalent infinite dimensional … Read more

    Convex computation of the region of attraction of polynomial control systems

  • Didier Henrion
  • Milan Korda
    • Categories Control Applications, Convex Optimization, Semi-definite Programming Tags , , , , , ,

    We address the long-standing problem of computing the region of attraction (ROA) of a target set (typically a neighborhood of an equilibrium point) of a controlled nonlinear system with polynomial dynamics and semialgebraic state and input constraints. We show that the ROA can be computed by solving a convex linear programming (LP) problem over the … Read more