Smart Predict-Then-Control: Control-Aware Surrogate Refinement for System Identification
Fuente:
arXiv
Gespeichert in:
| Hauptverfasser: | , , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2025
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866914419456344064 |
|---|---|
| author | Li, Jiachen Li, Shihao Chen, Dongmei |
| author_facet | Li, Jiachen Li, Shihao Chen, Dongmei |
| contents | This paper introduces Smart Predict Then Control (SPC), a control aware refinement procedure for model based control. SPC refines a prediction oriented model by optimizing a surrogate objective that evaluates candidate models through the control actions they induce. For a fixed surrogate variant under unconstrained control, we establish the smoothness of the surrogate, projected gradient convergence at a sublinear rate of order one over K, and a bias decomposition that yields a conditional transfer diagnostic. On a wind disturbed quadrotor trajectory tracking task, Updated SPC reduces tracking RMSE by 70 percent and closed loop cost by 42 percent relative to the nominal baseline. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2506_11279 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Smart Predict-Then-Control: Control-Aware Surrogate Refinement for System Identification Li, Jiachen Li, Shihao Chen, Dongmei Systems and Control This paper introduces Smart Predict Then Control (SPC), a control aware refinement procedure for model based control. SPC refines a prediction oriented model by optimizing a surrogate objective that evaluates candidate models through the control actions they induce. For a fixed surrogate variant under unconstrained control, we establish the smoothness of the surrogate, projected gradient convergence at a sublinear rate of order one over K, and a bias decomposition that yields a conditional transfer diagnostic. On a wind disturbed quadrotor trajectory tracking task, Updated SPC reduces tracking RMSE by 70 percent and closed loop cost by 42 percent relative to the nominal baseline. |
| title | Smart Predict-Then-Control: Control-Aware Surrogate Refinement for System Identification |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2506.11279 |