论文标题
在线凸优化,用于数据驱动的动态系统控制
Online convex optimization for data-driven control of dynamical systems
论文作者
论文摘要
我们提出了一种基于在线凸优化的算法,用于控制离散时间线性动力学系统。该算法是数据驱动的,即不需要系统模型,并且能够处理先验未知和随时间变化的成本函数。为此,我们利用了系统的持续令人兴奋的输入序列,并由行为系统理论产生的结果,该理论能够处理未知的线性时间不变系统。此外,我们考虑嘈杂的输出反馈,而不是全州测量,并允许一般的经济成本功能。我们对封闭环的分析表明,该算法能够实现均匀的遗憾,其中测量噪声只会为遗憾上限增加一个额外的恒定术语。为此,我们得出了未知系统稳态歧管的数据驱动表征。此外,我们的算法能够渐近地估计测量噪声。通过热控制中的详细模拟示例来说明所提出方法的有效性和应用方面。
We propose an algorithm based on online convex optimization for controlling discrete-time linear dynamical systems. The algorithm is data-driven, i.e., does not require a model of the system, and is able to handle a priori unknown and time-varying cost functions. To this end, we make use of a single persistently exciting input-output sequence of the system and results from behavioral systems theory which enable it to handle unknown linear time-invariant systems. Moreover, we consider noisy output feedback instead of full state measurements and allow general economic cost functions. Our analysis of the closed loop reveals that the algorithm is able to achieve sublinear regret, where the measurement noise only adds an additional constant term to the regret upper bound. In order to do so, we derive a data-driven characterization of the steady-state manifold of an unknown system. Moreover, our algorithm is able to asymptotically exactly estimate the measurement noise. The effectiveness and applicational aspects of the proposed method are illustrated by means of a detailed simulation example in thermal control.