相关论文: Data-Enabled Predictive Iterative Control

This paper quantifies and addresses the bias of subspace-based Data-Driven Predictive Control (DDPC) for linear, time-invariant (LTI) systems. The primary focus is the bias that arises when the training data is gathered with a feedback…

In this paper, we propose a structured linear parameterization of a feedback policy to solve the model-free stochastic optimal control problem. This parametrization is corroborated by a decoupling principle that is shown to be near-optimal…

Learning control policies to perform complex robotics tasks from human preference data presents significant challenges. On the one hand, the complexity of such tasks typically requires learning policies to perform a variety of subtasks,…

Event-triggered model predictive control (eMPC) is a popular optimal control method with an aim to alleviate the computation and/or communication burden of MPC. However, it generally requires priori knowledge of the closed-loop system…

Event-triggered control (ETC) methods can achieve high-performance control with a significantly lower number of samples compared to usual, time-triggered methods. These frameworks are often based on a mathematical model of the system and…

This paper presents a new data-driven robust predictive control law, for linear systems affected by unknown-but-bounded process disturbances. A sequence of input-state data is used to construct a suitable uncertainty representation based on…

Learning-based control has attracted significant attention in recent years, especially for plants that are difficult to model based on first-principles. A key issue in learning-based control is how to make efficient use of data as the…

The sudden onset of deleterious and oscillatory dynamics (often called instabilities) is a known challenge in many fluid, plasma, and aerospace systems. These dynamics are difficult to address because they are nonlinear, chaotic, and are…

Practical machine learning systems often operate in multiple sequential stages, as seen in ranking and recommendation systems, which typically include a retrieval phase followed by a ranking phase. Effectively assessing prediction…

Data-driven control approaches for the minimization of energy consumption of buildings have the potential to significantly reduce deployment costs and increase uptake of advanced control in this sector. A number of recent approaches based…

A data-based policy for iterative control task is presented. The proposed strategy is model-free and can be applied whenever safe input and state trajectories of a system performing an iterative task are available. These trajectories,…

This article addresses the problem of data-driven numerical optimal control for unknown nonlinear systems. In our scenario, we suppose to have the possibility of performing multiple experiments (or simulations) on the system. Experiments…

This article presents a Real-Time Iteration (RTI) scheme for distributed Nonlinear Model Predictive Control (NMPC). The scheme transfers the well-known RTI approach, a key enabler for many industrial real-time NMPC implementations, to the…

This paper proposes a robust self-triggered distributed model predictive control (DMPC) scheme for a family of Discrete-Time linear systems with local (uncoupled) and global (coupled) constraints. To handle the additive disturbance,…

The recently developed DeeP-LCC (Data-EnablEd Predictive Leading Cruise Control) method has shown promising performance for data-driven predictive control of Connected and Autonomous Vehicles (CAVs) in mixed traffic. However, its simplistic…

The data-driven linear quadratic regulator (ddLQR) is a widely studied control method for unknown dynamical systems with disturbance. Existing approaches, both indirect, i.e., those that identify a model followed by model-based design, and…

Topolectrical circuits provide a versatile platform for exploring and simulating modern physical models. However, existing approaches suffer from incomplete programmability and ineffective feature prediction and control mechanisms,…

This paper proposes modifications to the data-enabled policy optimization (DeePO) algorithm to mitigate state perturbations. DeePO is an adaptive, data-driven approach designed to iteratively compute a feedback gain equivalent to the…

We present a novel tube-based data-driven predictive control method for linear systems affected by a bounded addictive disturbance. Our method leverages recent results in the reachability analysis of unknown linear systems to formulate and…

By means of the linear parameter-varying (LPV) Fundamental Lemma, we derive novel data-driven predictive control (DPC) methods for LPV systems. In particular, we present output-feedback and state-feedback-based LPV-DPC methods with terminal…