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We propose to solve a constrained distribution steering problem, i.e.,steering a stochastic linear system from an initial distribution to some final,desired distribution subject to chance constraints. We do so by characterizingthe cumulative distribution function in the chance constraints and by using theabsolute distance between two probability density functions using thecorresponding characteristic functions. We consider discrete-time, time-varyinglinear systems with affine feedback. We demonstrate the proposed approach on a2D double-integrator perturbed by various disturbances and initial conditions.

Distribution Steering for Discrete-Time Linear Systems with General Disturbances using Characteristic Functions