Abstract
This paper introduces a novel approach for designing optimal control
using data-driven Stochastic Game Theoretic Differential Dynamic
Programming (SGT-DDP). The proposed method addresses unknown stochastic
systems by approximating both drift and diffusion dynamics. The drift
dynamics is estimated via Gaussian Process Regression (GPR) using
input-output data. The diffusion dynamics is approximated from the noise
data, which is extracted through subtracting the noisy output from the
smoothed output. Subsequently, the binning method is combined with GPR
to obtain the approximate model of the diffusion dynamics. These
approximations are integrated into the SGT-DDP framework to compute
optimal control policies. Simulations on benchmark nonlinear systems
under unknown dynamics demonstrate the effectiveness of the method.