{"ID":2845860,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.03577","arxiv_id":"2511.03577","title":"Exploiting Over-Approximation Errors as Preview Information for Nonlinear Control","abstract":"We study the control of nonlinear constrained systems via over-approximations. Our key observation is that the over-approximation error, rather than being an unknown disturbance, can be exploited as input-dependent preview information. This leads to the notion of informed policies, which depend on both the state and the error. We formulate the concretization problem -- recovering a valid input for the true system from a preview-based policy -- as a fixed-point equation. Existence of solutions follows from the Brouwer fixed-point theorem, while efficient computation is enabled through closed-form, linear, or convex programs for input-affine systems, and through an iterative method based on the Banach fixed-point theorem for nonlinear systems.","short_abstract":"We study the control of nonlinear constrained systems via over-approximations. Our key observation is that the over-approximation error, rather than being an unknown disturbance, can be exploited as input-dependent preview information. This leads to the notion of informed policies, which depend on both the state and th...","url_abs":"https://arxiv.org/abs/2511.03577","url_pdf":"https://arxiv.org/pdf/2511.03577v2","authors":"[\"Antoine Aspeel\",\"Antoine Girard\",\"Thiago Alves Lima\"]","published":"2025-11-05T15:59:41Z","proceeding":"math.OC","tasks":"[\"math.OC\",\"eess.SY\",\"math.DS\"]","methods":"[]","has_code":false}