Learning Model Predictive Control for Periodic Repetitive Tasks
We propose a reference-free learning model predictive controller for periodic repetitive tasks. We consider a problem in which dynamics, constraints and stage cost are periodically time-varying. The controller uses the closed-loop data to construct a time-varying terminal set and a time-varying term...
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| Language: | English |
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18-11-2019
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| Abstract | We propose a reference-free learning model predictive controller for periodic
repetitive tasks. We consider a problem in which dynamics, constraints and
stage cost are periodically time-varying. The controller uses the closed-loop
data to construct a time-varying terminal set and a time-varying terminal cost.
We show that the proposed strategy in closed-loop with linear and nonlinear
systems guarantees recursive constraints satisfaction, non-increasing open-loop
cost, and that the open-loop and closed-loop cost are the same at convergence.
Simulations are presented for different repetitive tasks, both for linear and
nonlinear systems. |
|---|---|
| AbstractList | We propose a reference-free learning model predictive controller for periodic
repetitive tasks. We consider a problem in which dynamics, constraints and
stage cost are periodically time-varying. The controller uses the closed-loop
data to construct a time-varying terminal set and a time-varying terminal cost.
We show that the proposed strategy in closed-loop with linear and nonlinear
systems guarantees recursive constraints satisfaction, non-increasing open-loop
cost, and that the open-loop and closed-loop cost are the same at convergence.
Simulations are presented for different repetitive tasks, both for linear and
nonlinear systems. |
| Author | Borrelli, Francesco Scianca, Nicola Rosolia, Ugo |
| Author_xml | – sequence: 1 givenname: Nicola surname: Scianca fullname: Scianca, Nicola – sequence: 2 givenname: Ugo surname: Rosolia fullname: Rosolia, Ugo – sequence: 3 givenname: Francesco surname: Borrelli fullname: Borrelli, Francesco |
| BackLink | https://doi.org/10.48550/arXiv.1911.07535$$DView paper in arXiv |
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| Snippet | We propose a reference-free learning model predictive controller for periodic
repetitive tasks. We consider a problem in which dynamics, constraints and
stage... |
| SourceID | arxiv |
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| SubjectTerms | Computer Science - Systems and Control |
| Title | Learning Model Predictive Control for Periodic Repetitive Tasks |
| URI | https://arxiv.org/abs/1911.07535 |
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