Data-driven Invariance for Reference Governors
Fuente:
arXiv
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| Auteurs principaux: | , |
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| Format: | Preprint |
| Publié: |
2023
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| _version_ | 1866929617423564800 |
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| author | Kashani, Ali Danielson, Claus |
| author_facet | Kashani, Ali Danielson, Claus |
| contents | This paper presents a novel approach to synthesizing positive invariant sets for unmodeled nonlinear systems using direct data-driven techniques. The data-driven invariant sets are used to design a data-driven reference governor that selects a reference for the closed-loop system to enforce constraints. Using kernel-basis functions, we solve a semi-definite program to learn a sum-of-squares Lyapunov-like function whose unity level-set is a constraint admissible positive invariant set, which determines the constraint admissible states as well as reference inputs. Leveraging Lipschitz properties of the system, we prove that tightening the model-based design ensures robustness of the data-driven invariant set to the inherent plant uncertainty in a data-driven framework. To mitigate the curse-of-dimensionality, we repose the semi-definite program into a linear program. We validate our approach through two examples: First, we present an illustrative example where we can analytically compute the maximum positive invariant set and compare with the presented data-driven invariant set. Second, we present a practical autonomous driving scenario to demonstrate the utility of the presented method for nonlinear systems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2310_08679 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Data-driven Invariance for Reference Governors Kashani, Ali Danielson, Claus Systems and Control Dynamical Systems Optimization and Control This paper presents a novel approach to synthesizing positive invariant sets for unmodeled nonlinear systems using direct data-driven techniques. The data-driven invariant sets are used to design a data-driven reference governor that selects a reference for the closed-loop system to enforce constraints. Using kernel-basis functions, we solve a semi-definite program to learn a sum-of-squares Lyapunov-like function whose unity level-set is a constraint admissible positive invariant set, which determines the constraint admissible states as well as reference inputs. Leveraging Lipschitz properties of the system, we prove that tightening the model-based design ensures robustness of the data-driven invariant set to the inherent plant uncertainty in a data-driven framework. To mitigate the curse-of-dimensionality, we repose the semi-definite program into a linear program. We validate our approach through two examples: First, we present an illustrative example where we can analytically compute the maximum positive invariant set and compare with the presented data-driven invariant set. Second, we present a practical autonomous driving scenario to demonstrate the utility of the presented method for nonlinear systems. |
| title | Data-driven Invariance for Reference Governors |
| topic | Systems and Control Dynamical Systems Optimization and Control |
| url | https://arxiv.org/abs/2310.08679 |