Work

Beyond Ellipsoids: Semialgebraic Tightening for Chance Constraints Under Actuator Saturation

Year: 2026

Type: article

Abstract: Motivated by stochastic model predictive control applications, we develop a semialgebraic framework for constraint tightening in chance-constrained systems with unbounded additive disturbances and saturated inputs. The saturation nonlinearity is represented exactly through its semialgebraic description. A polynomial Lyapunov function satisfying a stochastic drift condition is then synthesized using sum-of-squares optimization, yielding finite-time probabilistic reachable sets and probabilistic ultimate bound. The resulting sets are further optimized through an objective tailored to constraint tightening. Numerical examples illustrate the effectiveness and scalability properties of the approach.

Source: IEEE Control Systems Letters

DOI: 10.1109/lcsys.2026.3749365

Authors: Carlo Karam, Mirko Fiacchini, Matteo Tacchi-Bénard

Institutions: Institut polytechnique de Grenoble, Centre National de la Recherche Scientifique, GIPSA-Lab

Language: English

Topic: Advanced Control Systems Optimization

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funders: Agence Nationale de la Recherche, Centre National de la Recherche Scientifique

OpenAlex ID: W7170139120

FWCI:

Cites: 2

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Related to: 10