484 research outputs found
On the linear quadratic data-driven control
The classical approach for solving control problems is model based: first a model representation is derived from given data of the plant and then a control law is synthesized using the model and the control specifications. We present an alternative approach that circumvents the explicit identification of a model representation. The considered control problem is finite horizon linear quadratic tracking. The results are derived assuming exact data and the optimal trajectory is constructed off-line
Statistical Learning Theory for Control: A Finite Sample Perspective
This tutorial survey provides an overview of recent non-asymptotic advances
in statistical learning theory as relevant to control and system
identification. While there has been substantial progress across all areas of
control, the theory is most well-developed when it comes to linear system
identification and learning for the linear quadratic regulator, which are the
focus of this manuscript. From a theoretical perspective, much of the labor
underlying these advances has been in adapting tools from modern
high-dimensional statistics and learning theory. While highly relevant to
control theorists interested in integrating tools from machine learning, the
foundational material has not always been easily accessible. To remedy this, we
provide a self-contained presentation of the relevant material, outlining all
the key ideas and the technical machinery that underpin recent results. We also
present a number of open problems and future directions.Comment: Survey Paper, Submitted to Control Systems Magazine. Second version
contains additional motivation for finite sample statistics and more detailed
comparison with classical literatur
Data-Driven Predictive Control for Multi-Agent Decision Making With Chance Constraints
In the recent literature, significant and substantial efforts have been
dedicated to the important area of multi-agent decision-making problems.
Particularly here, the model predictive control (MPC) methodology has
demonstrated its effectiveness in various applications, such as mobile robots,
unmanned vehicles, and drones. Nevertheless, in many specific scenarios
involving the MPC methodology, accurate and effective system identification is
a commonly encountered challenge. As a consequence, the overall system
performance could be significantly weakened in outcome when the traditional MPC
algorithm is adopted under such circumstances. To cater to this rather major
shortcoming, this paper investigates an alternate data-driven approach to solve
the multi-agent decision-making problem. Utilizing an innovative modified
methodology with suitable closed-loop input/output measurements that comply
with the appropriate persistency of excitation condition, a non-parametric
predictive model is suitably constructed. This non-parametric predictive model
approach in the work here attains the key advantage of alleviating the rather
heavy computational burden encountered in the optimization procedures typical
in alternative methodologies requiring open-loop input/output measurement data
collection and parametric system identification. Then with a conservative
approximation of probabilistic chance constraints for the MPC problem, a
resulting deterministic optimization problem is formulated and solved
efficiently and effectively. In the work here, this intuitive data-driven
approach is also shown to preserve good robustness properties. Finally, a
multi-drone system is used to demonstrate the practical appeal and highly
effective outcome of this promising development in achieving very good system
performance.Comment: 10 pages, 6 figure
Data-driven Identification and Prediction of Power System Dynamics Using Linear Operators
In this paper, we propose linear operator theoretic framework involving
Koopman operator for the data-driven identification of power system dynamics.
We explicitly account for noise in the time series measurement data and propose
robust approach for data-driven approximation of Koopman operator for the
identification of nonlinear power system dynamics. The identified model is used
for the prediction of state trajectories in the power system. The application
of the framework is illustrated using an IEEE nine bus test system.Comment: Accepted for publication in IEEE Power and Energy System General
Meeting 201
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