Safe Data-Driven Model Predictive Control of Systems With Complex Dynamics
نویسندگان
چکیده
منابع مشابه
Model Predictive Control with Uncertainty in Human Driven Systems
Human driven systems present a unique optimization challenge for robot control. Generally, operators of these systems behave rationally given environmental factors and desired goals. However, information available to subsystem controllers is often incomplete, and the operator becomes more difficult to model without this input information. In this work we present a data-driven, nonparametric mod...
متن کاملData-Driven Plant-Model Mismatch Quantification in Model Predictive Control
In this paper, we present a novel data-driven approach for estimating plant-model mismatch for linear MIMO systems operating under constrained MPC. We begin with analyzing the closed-loop plant data; under the assumption that changes in the active set of constraints of the controller are due to (low frequency) setpoint changes, we separate the data into a finite number of fixed active set (FAS)...
متن کاملData-driven Direct Adaptive Model Based Predictive Control
This paper is concerned with the design of Direct Adaptive Model Based Predictive Control (DAMBPC) using subspace identification technique to identify and implement the controller parameters. The direct identification of controller parameters reduces the design effort and computation load which is usually involved with classical adaptive control techniques. The proposed method requires a single...
متن کاملData-Driven Model Predictive Control of Autonomous Mobility-on-Demand Systems
The goal of this paper is to present an end-to-end, data-driven framework to control Autonomous Mobility-onDemand systems (AMoD, i.e. fleets of self-driving vehicles). We first model the AMoD system using a time-expanded network, and present a formulation that computes the optimal rebalancing strategy (i.e., preemptive repositioning) and the minimum feasible fleet size for a given travel demand...
متن کاملPredictive Approaches to Control of Complex Systems
Follow up what we will offer in this article about predictive approaches to control of complex systems. You know really that this book is coming as the best seller book today. So, when you are really a good reader or you're fans of the author, it does will be funny if you don't have this book. It means that you have to get this book. For you who are starting to learn about something new and fee...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2023
ISSN: ['1552-3098', '1941-0468', '1546-1904']
DOI: https://doi.org/10.1109/tro.2023.3266995