论文/arXiv 2610.07674·22 天前

信念引导的混合控制及几乎必然目标集收敛

针对参数不确定下混合系统到达目标集，提出信念信息双控制算法，并在平面调节和仿真双臂装配中验证。

AI 整理

• 本体 SDK 与控制
• 数据与采集

原文链接：Belief-Informed Hybrid Control with Almost-Sure Target-Set Convergence（arXiv 2610.07674 · 发布日期：2026-10-06）

Belief-Informed Hybrid Control with Almost-Sure Target-Set Convergence

针对参数不确定下混合系统到达目标集，提出信念信息双控制算法，并在平面调节和仿真双臂装配中验证。

核心要点

• 参数不确定时，获取信息的动作可能需暂时远离目标集。
• 算法结合信念空间滚动时域选择、期望下降约束和松弛状态。
• 两步前瞻用预测观测更新信念，并给出几乎必然收敛证明。
• 平面调节11步内降至0.01，仿真装配误差较基线低96.4%。

验证范围与局限：验证范围为平面调节与仿真双臂装配，摘要未报告真机实验。

英文摘要 (Abstract)

Controlling a hybrid system to a target set under parameter uncertainty can require informative actions that temporarily drive the system state away from the specified set. We propose a belief-informed dual-control algorithm that combines belief-space receding-horizon selection with an expected-decrease constraint on a nonnegative target-set progress function. To accommodate exploratory deviations, a scalar controller state bounds the constraint's cumulative slack. Our algorithm's two-step lookahead selection uses predicted observations to update the parameter belief before evaluating the subsequent action's admissibility. Under distance-comparison bounds, correct conditional prediction, and recursive feasibility, we prove almost-sure target-set convergence at decision times and bound both the sum of expected progress-function values and the expected neighborhood-entry time. Upper confidence bounds extend these convergence guarantees to bounded model samples with summable error probabilities. In planar regulation with an unknown control direction, we verify recursive feasibility: the proposed two-step selection reduces the Euclidean state norm below 0.01 within 11 decisions for either sign, whereas a myopic one-step selection loses admissibility immediately after zero input. In a simulated bimanual assembly task, our algorithm's one-step implementation uses clearance feedback to complete the assembly under nominal friction, yielding a 96.4% lower infinity-norm relative-position error than the reference-tracking baseline at the method's completion time. At lower friction, its posterior conditioning successfully detects an empty admissible set, whereas a fixed-prior alternative admits an action that violates the conditional decrease constraint. Project page: https://clintonenwerem.com/belief-hybrid-control/.

作者：Clinton O. Enwerem, Saleh Kemal, John S. Baras, Calin A. Belta

来源

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1. arXiv 2610.07674：Belief-Informed Hybrid Control with Almost-Sure Target-Set Convergence访问 2026-10-21