Leveraging recent developments in black-box risk-aware verification, we provide three algorithms that generate probabilistic guarantees on (1) optimality of solutions, (2) recursive feasibility, and (3) maximum controller runtimes for general nonlinear safety-critical finite-time optimal controllers. These methods forego the usual (perhaps) restrictive assumptions required for typical theoretical guarantees, e.g. terminal set calculation for recursive feasibility in Nonlinear Model Predictive Control, or convexification of optimal controllers to ensure optimality. Furthermore, we show that these methods can directly be applied to hardware systems to generate controller guarantees on their respective systems.

翻译：最近在黑箱风险感知验证领域取得进展的基础上，我们提出了三种算法，可为通用非线性安全临界有限时域最优控制器提供以下方面的概率性保障：（1）解的最优性，（2）递归可行性，以及（3）控制器最大运行时间。这些方法摒弃了传统理论保障所需的（可能具有）限制性的假设，例如非线性模型预测控制中为保障递归可行性而进行的终端集计算，或为保障最优性而对最优控制器进行凸化处理。此外，我们证明这些方法可直接应用于硬件系统，为其所在系统生成控制器保障。