Safety-Constrained Optimal Control and Hamiltonian-Gradient Learning for Systems with Unknown Dynamics

arXiv:2603.27677 · eess.SY, cs.SY · Submitted 2026-03-29 · Read on arXiv

eess.SY, cs.SY

Submitted: 2026-03-29

Updated: 2026-09-25

Code: https://github.com/Panos20102k/MultiLimo-Control

Terminology

• Reinforcement Learning — 4× in this paper · explained in 4 episodes
• Alignment — 3× in this paper · explained in 1 episode
• Actor — 2× in this paper · explained in 3 episodes
• Digital Twin — 2× in this paper · explained in 4 episodes
• Fidelity — 2× in this paper · explained in 2 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• American Control Conference — 1× in this paper
• Closed-Loop System — 1× in this paper · explained in 4 episodes
• IEEE Intelligent Vehicles Symposium — 1× in this paper
• Objective Function — 1× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 24 episodes
• System Identification — 1× in this paper · explained in 3 episodes

Sources

• When an Approximate Model Suffices for Optimal Control

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