Discrete-Time Optimal Covariance Steering via Semidefinite Programming

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 to efficiently attain 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. Numerical examples are then provided to illustrate the proposed method. Finally, a comparative study is performed on 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.