{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:USO74E6MDOOX3SZXFMNMA7CXQX","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"1adeb88dde9725edcf1accefcd58fc307abab8baefadb800d325fac0377108e4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2019-02-04T18:57:12Z","title_canon_sha256":"6f0eca751c91f2d03e83a648d11d1c4f3b9238d27698a99fb5e551ce7ac7fbbd"},"schema_version":"1.0","source":{"id":"1902.01389","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1902.01389","created_at":"2026-05-17T23:52:31Z"},{"alias_kind":"arxiv_version","alias_value":"1902.01389v2","created_at":"2026-05-17T23:52:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1902.01389","created_at":"2026-05-17T23:52:31Z"},{"alias_kind":"pith_short_12","alias_value":"USO74E6MDOOX","created_at":"2026-05-18T12:33:30Z"},{"alias_kind":"pith_short_16","alias_value":"USO74E6MDOOX3SZX","created_at":"2026-05-18T12:33:30Z"},{"alias_kind":"pith_short_8","alias_value":"USO74E6M","created_at":"2026-05-18T12:33:30Z"}],"graph_snapshots":[{"event_id":"sha256:0b6d9894a50f5d15c65acadd1793fc1df8d88d5781f98c5eaa88de38031e82fa","target":"graph","created_at":"2026-05-17T23:52:31Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"paper":{"abstract_excerpt":"Traditional stochastic optimal control methods that attempt to obtain an optimal feedback policy for nonlinear systems are computationally intractable. In this paper, we derive a decoupling principle between the open loop plan, and the closed loop feedback gains, that leads to a perturbation feedback control based solution to optimal control problems under action uncertainty, that is near-optimal to the third order. Extensive numerical simulations validate the theory, revealing a wide range of applicability, coping with medium levels of noise. The performance is compared with Nonlinear Model P","authors_text":"Karthikeya S Parunandi, Suman Chakravorty","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2019-02-04T18:57:12Z","title":"T-PFC: A Trajectory-Optimized Perturbation Feedback Control Approach"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1902.01389","kind":"arxiv","version":2},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:44f6df5599871c0203aa470a38e7e308a59803ec49b3d80f14447157d45af307","target":"record","created_at":"2026-05-17T23:52:31Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"1adeb88dde9725edcf1accefcd58fc307abab8baefadb800d325fac0377108e4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2019-02-04T18:57:12Z","title_canon_sha256":"6f0eca751c91f2d03e83a648d11d1c4f3b9238d27698a99fb5e551ce7ac7fbbd"},"schema_version":"1.0","source":{"id":"1902.01389","kind":"arxiv","version":2}},"canonical_sha256":"a49dfe13cc1b9d7dcb372b1ac07c5785f77a76c451d928cdf58e4a1dbb910025","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a49dfe13cc1b9d7dcb372b1ac07c5785f77a76c451d928cdf58e4a1dbb910025","first_computed_at":"2026-05-17T23:52:31.801178Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:52:31.801178Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ZmCOwC5yaZ2G3/RpVSJn2JqWRyd6llvf5LznE9jcCw65eRMqc6q0SKZsLhHC8pobpZJ8BRx5KxsV96BdFOKHDQ==","signature_status":"signed_v1","signed_at":"2026-05-17T23:52:31.801613Z","signed_message":"canonical_sha256_bytes"},"source_id":"1902.01389","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:44f6df5599871c0203aa470a38e7e308a59803ec49b3d80f14447157d45af307","sha256:0b6d9894a50f5d15c65acadd1793fc1df8d88d5781f98c5eaa88de38031e82fa"],"state_sha256":"0185a6fe9e937a50d4f01bfa8fc06c97717d9c9a954d4c2a78ef585180d7fa94"}