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Safety-Aware Optimal Control of Stochastic Systems Using Conditional Value-at-Risk
Cited 38 time in
Web of Science
Cited 38 time in Scopus
- Authors
- Issue Date
- 2018-06
- Publisher
- IEEE
- Citation
- 2018 ANNUAL AMERICAN CONTROL CONFERENCE (ACC), pp.6285-6290
- Abstract
- In this paper, we consider a multi-objective control problem for stochastic systems that seeks to minimize a cost of interest while ensuring safety. We introduce a novel measure of safety risk using the conditional value-at-risk and a set distance to formulate a safety risk-constrained optimal control problem. Our reformulation method using an extremal representation of the safety risk measure provides a computationally tractable dynamic programming solution. A useful byproduct of the proposed solution is the notion of a risk-constrained safe set, which is a new stochastic safety verification tool. We also establish useful connections between the risk-constrained safe sets and the popular probabilistic safe sets. The tradeoff between the risk tolerance and the mean performance of our controller is examined through an inventory control problem.
- ISSN
- 0743-1619
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