Saved in:
| Main Authors: | , |
|---|---|
| Format: | Preprint |
| Published: |
2024
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2403.04881 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866915358959468544 |
|---|---|
| author | Le, Viet-Anh Malikopoulos, Andreas A. |
| author_facet | Le, Viet-Anh Malikopoulos, Andreas A. |
| contents | In this work, we propose a framework for adapting the controller's parameters based on learning optimal solutions from contextual black-box optimization problems. We consider a class of control design problems for dynamical systems operating in different environments or conditions represented by contextual parameters. The overarching goal is to identify the controller parameters that maximize the controlled system's performance, given different realizations of the contextual parameters.We formulate a contextual Bayesian optimization problem in which the solution is actively learned using Gaussian processes to approximate the controller adaptation strategy. We demonstrate the efficacy of the proposed framework with a sim-to-real example. We learn the optimal weighting strategy of a model predictive control for connected and automated vehicles interacting with human-driven vehicles from simulations and then deploy it in a real-time experiment. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_04881 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Controller Adaptation via Learning Solutions of Contextual Bayesian Optimization Le, Viet-Anh Malikopoulos, Andreas A. Systems and Control In this work, we propose a framework for adapting the controller's parameters based on learning optimal solutions from contextual black-box optimization problems. We consider a class of control design problems for dynamical systems operating in different environments or conditions represented by contextual parameters. The overarching goal is to identify the controller parameters that maximize the controlled system's performance, given different realizations of the contextual parameters.We formulate a contextual Bayesian optimization problem in which the solution is actively learned using Gaussian processes to approximate the controller adaptation strategy. We demonstrate the efficacy of the proposed framework with a sim-to-real example. We learn the optimal weighting strategy of a model predictive control for connected and automated vehicles interacting with human-driven vehicles from simulations and then deploy it in a real-time experiment. |
| title | Controller Adaptation via Learning Solutions of Contextual Bayesian Optimization |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2403.04881 |