Discrete-time Optimal Covariance Steering via Semidefinite Programming

Abstract

This paper addresses the optimal covariance steering problem for stochastic discrete-time linear systems subject to probabilistic state and control constraints. A method is presented for efficiently attaining the exact solution of the problem based on a lossless convex relaxation of the original non-linear program using semidefinite programming. Both the constrained and the unconstrained versions of the problem with either equality or inequality terminal covariance boundary conditions are addressed. We first prove that the proposed relaxation is lossless for all of the above cases. A numerical example is then provided to illustrate the method. Finally, a comparative study is performed in systems of various sizes and steering horizons to illustrate the advantages of the proposed method in terms of computational resources compared to the state of the art.

arXiv commentThis paper has been accepted for publication in CDC 2023