Learning Model Predictive Control for Iterative Tasks. A Data-Driven Control Framework
A learning model predictive controller for iterative tasks is presented. The controller is reference-free and is able to improve its performance by learning from previous iterations. A safe set and a terminal cost function are used in order to guarantee recursive feasibility and nondecreasing perfor...
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| Published in | IEEE transactions on automatic control Vol. 63; no. 7; pp. 1883 - 1896 |
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| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
IEEE
01.07.2018
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0018-9286 1558-2523 |
| DOI | 10.1109/TAC.2017.2753460 |
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| Abstract | A learning model predictive controller for iterative tasks is presented. The controller is reference-free and is able to improve its performance by learning from previous iterations. A safe set and a terminal cost function are used in order to guarantee recursive feasibility and nondecreasing performance at each iteration. This paper presents the control design approach, and shows how to recursively construct terminal set and terminal cost from state and input trajectories of previous iterations. Simulation results show the effectiveness of the proposed control logic. |
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| AbstractList | A learning model predictive controller for iterative tasks is presented. The controller is reference-free and is able to improve its performance by learning from previous iterations. A safe set and a terminal cost function are used in order to guarantee recursive feasibility and nondecreasing performance at each iteration. This paper presents the control design approach, and shows how to recursively construct terminal set and terminal cost from state and input trajectories of previous iterations. Simulation results show the effectiveness of the proposed control logic. |
| Author | Borrelli, Francesco Rosolia, Ugo |
| Author_xml | – sequence: 1 givenname: Ugo surname: Rosolia fullname: Rosolia, Ugo email: ugo.rosolia@berkeley.edu organization: Dept. of Mech. Eng., Univ. of California at Berkeley, Berkeley, CA, USA – sequence: 2 givenname: Francesco surname: Borrelli fullname: Borrelli, Francesco email: fborrelli@berkeley.edu organization: Dept. of Mech. Eng., Univ. of California at Berkeley, Berkeley, CA, USA |
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| SubjectTerms | Control design Cost function Data driven Iterative learning control learning Nonlinear dynamical systems optimal control Predictive control Predictive models safety Trajectory |
| Title | Learning Model Predictive Control for Iterative Tasks. A Data-Driven Control Framework |
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