Learning Model Predictive Control for Iterative Tasks. A Data-Driven Control Framework
نویسندگان
چکیده
منابع مشابه
Learning Model Predictive Control for Iterative Tasks. A Data-Driven Control Framework
A Learning Model Predictive Controller (LMPC) for iterative tasks is presented. The controller is referencefree and is able to improve its performance by learning from previous iterations. A safe set and a terminal cost function are used in order to guarantee recursive feasibility and nondecreasing performance at each iteration. The paper presents the control design approach, and shows how to r...
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A Learning Model Predictive Controller (LMPC) for iterative tasks is presented. The controller is referencefree and is able to improve its performance by learning from previous iterations. A safe set and a terminal cost function are used in order to guarantee recursive feasibility and nonincreasing performance at each iteration. The paper presents the control design approach, and shows how to r...
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Abstract: A Learning Model Predictive Controller (LMPC) for linear system is presented. The proposed controller builds on previous work on nonlinear LMPC and decreases its computational burden for linear system. The control scheme is reference-free and is able to improve its performance by learning from previous iterations. A convex safe set and a terminal cost function are used in order to gua...
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An iterative learning based economic model predictive controller (ILEMPC) is proposed for repetitive tasks in this paper. Compared with existing works, the initial feasible trajectory of the proposed ILEMPC is not restricted to be convergent to an equilibrium so it can handle various types of control objectives: stabilization, tracking a periodic trajectory and even pure economic optimization. ...
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We present a Robust Learning Model Predictive Controller (RLMPC) for constrained uncertain systems performing iterative tasks. The proposed controller builds on earlier work of Learning Model Predictive Control (LMPC) for deterministic systems. The main idea behind RLMPC is to collect data from previous iterations and use it to estimate the current value function and build a robust safe set. We...
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ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2018
ISSN: 0018-9286,1558-2523,2334-3303
DOI: 10.1109/tac.2017.2753460