Kernelized offset-free data-driven predictive control for nonlinear systems
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arXiv
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| Auteurs principaux: | , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866915039231868928 |
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| author | de Jong, Thomas Oliver Lazar, Mircea |
| author_facet | de Jong, Thomas Oliver Lazar, Mircea |
| contents | This paper presents a kernelized offset-free data-driven predictive control scheme for nonlinear systems. Traditional model-based and data-driven predictive controllers often struggle with inaccurate predictors or persistent disturbances, especially in the case of nonlinear dynamics, leading to tracking offsets and stability issues. To overcome these limitations, we employ kernel methods to parameterize the nonlinear terms of a velocity model, preserving its structure and efficiently learning unknown parameters through a least squares approach. This results in a offset-free data-driven predictive control scheme formulated as a nonlinear program, but solvable via sequential quadratic programming. We provide a framework for analyzing recursive feasibility and stability of the developed method and we demonstrate its effectiveness through simulations on a nonlinear benchmark example. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_18762 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Kernelized offset-free data-driven predictive control for nonlinear systems de Jong, Thomas Oliver Lazar, Mircea Systems and Control This paper presents a kernelized offset-free data-driven predictive control scheme for nonlinear systems. Traditional model-based and data-driven predictive controllers often struggle with inaccurate predictors or persistent disturbances, especially in the case of nonlinear dynamics, leading to tracking offsets and stability issues. To overcome these limitations, we employ kernel methods to parameterize the nonlinear terms of a velocity model, preserving its structure and efficiently learning unknown parameters through a least squares approach. This results in a offset-free data-driven predictive control scheme formulated as a nonlinear program, but solvable via sequential quadratic programming. We provide a framework for analyzing recursive feasibility and stability of the developed method and we demonstrate its effectiveness through simulations on a nonlinear benchmark example. |
| title | Kernelized offset-free data-driven predictive control for nonlinear systems |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2411.18762 |