Control-Oriented Identification for the Linear Quadratic Regulator: Technical Report
Fuente:
arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| Accesso online: | |
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| _version_ | 1866910453509128192 |
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| author | Anderson, Sean Hespanha, João Pedro |
| author_facet | Anderson, Sean Hespanha, João Pedro |
| contents | Data-driven control benefits from rich datasets, but constructing such datasets becomes challenging when gathering data is limited. We consider an offline experiment design approach to gathering data where we design a control input to collect data that will most improve the performance of a feedback controller. We show how such a control-oriented approach can be used in a setting with linear dynamics and quadratic objective and, through design of a gradient estimator, solve the problem via stochastic gradient descent. We show our formulation numerically outperforms an A- and L-optimal experiment design approach as well as a robust dual control approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_05455 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Control-Oriented Identification for the Linear Quadratic Regulator: Technical Report Anderson, Sean Hespanha, João Pedro Systems and Control Data-driven control benefits from rich datasets, but constructing such datasets becomes challenging when gathering data is limited. We consider an offline experiment design approach to gathering data where we design a control input to collect data that will most improve the performance of a feedback controller. We show how such a control-oriented approach can be used in a setting with linear dynamics and quadratic objective and, through design of a gradient estimator, solve the problem via stochastic gradient descent. We show our formulation numerically outperforms an A- and L-optimal experiment design approach as well as a robust dual control approach. |
| title | Control-Oriented Identification for the Linear Quadratic Regulator: Technical Report |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2403.05455 |