Learning based Model Predictive Control with closed loop guarantees is popular PDF and ePub book, written by Raffaele Soloperto in 2023-11-13, it is a fantastic choice for those who relish reading online the Uncategoriezed genre. Let's immerse ourselves in this engaging Uncategoriezed book by exploring the summary and details provided below. Remember, Learning based Model Predictive Control with closed loop guarantees can be Read Online from any device for your convenience.
Learning based Model Predictive Control with closed loop guarantees Book PDF Summary
The performance of model predictive control (MPC) largely depends on the accuracy of the prediction model and of the constraints the system is subject to. However, obtaining an accurate knowledge of these elements might be expensive in terms of money and resources, if at all possible. In this thesis, we develop novel learning-based MPC frameworks that actively incentivize learning of the underlying system dynamics and of the constraints, while ensuring recursive feasibility, constraint satisfaction, and performance bounds for the closed-loop. In the first part, we focus on the case of inaccurate models, and analyze learning-based MPC schemes that include, in addition to the primary cost, a learning cost that aims at generating informative data by inducing excitation in the system. In particular, we first propose a nonlinear MPC framework that ensures desired performance bounds for the resulting closed-loop, and then we focus on linear systems subject to uncertain parameters and noisy output measurements. In order to ensure that the desired learning phase occurs in closed-loop operations, we then propose an MPC framework that is able to guarantee closed-loop learning of the controlled system. In the last part of the thesis, we investigate the scenario where the system is known but evolves in a partially unknown environment. In such a setup, we focus on a learning-based MPC scheme that incentivizes safe exploration if and only if this might yield to a performance improvement.
Detail Book of Learning based Model Predictive Control with closed loop guarantees PDF
- Author : Raffaele Soloperto
- Release : 13 November 2023
- Publisher : Logos Verlag Berlin GmbH
- ISBN : 9783832557447
- Genre : Uncategoriezed
- Total Page : 172 pages
- Language : English
- PDF File Size : 18,6 Mb
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