Constrained Gaussian Process Learning for Model Predictive Control
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Publication:6329814
arXiv1911.10809MaRDI QIDQ6329814
Rolf Findeisen, Janine Matschek, Andreas Himmel, Kai Sundmacher
Publication date: 25 November 2019
Abstract: Many control tasks can be formulated as a tracking problem of a known or unknown reference signal. Examples are movement compensation in collaborative robotics, the synchronisation of oscillations for power systems or reference tracking of recipes in chemical process operation. Tracking performance as well as guaranteeing stability of the closed loop strongly depends on two factors: Firstly, it depends on whether the future desired tracking reference signal is known and, secondly, whether the system can track the reference at all. This paper shows how to use machine learning, i.e. Gaussian processes, to learn a reference from (noisy) data, while guaranteeing trackability of the modified desired reference predictions in the framework of model predictive control. Guarantees are provided by adjusting the hyperparameters via a constrained optimization. Two specific scenarios, i.e. asymptotically constant and periodical references, are discussed.
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