论文标题
约束线性不确定系统的基于在线学习的基于风险的随机MPC
Online Learning Based Risk-Averse Stochastic MPC of Constrained Linear Uncertain Systems
论文作者
论文摘要
本文研究了在添加剂随机干扰下设计与线性时间流动系统的数据驱动随机模型预测控制(MPC)的问题,该系统的概率分布尚不清楚,但可以部分从数据中推断出来。我们提出了一个新型的基于在线学习的新型风险随机MPC框架,其中需要对系统状态的条件价值(CVAR)限制来保留一个称为歧义集的分布家族。模棱两可集是通过利用Dirichlet过程混合模型来构建的,该模型是自适应的,该模型是基础数据结构和复杂性的。具体而言,多模式的结构特性是利用的,因此每个混合物组件的一阶和二阶信息信息都合并到歧义集中。然后,基于对拟议的歧义集的分布RO-BUST CVAR约束的等效重新制定,开发了一种新的约束策略。随着在控制器的运行时间内收集更多数据,使用实时干扰数据在线更新了歧义集,这使得规避风险的随机MPC能够应对时变的干扰分布。所采用的在线变异推理算法不需要从头开始学习所有收集的数据,因此提出的MPC赋予了在线学习的保证计算复杂性。提出的MPC的递归可行性和闭环稳定性是通过安全更新方案确定的。数值示例用于说明所提出的MPC的有效性和优势。
This paper investigates the problem of designing data-driven stochastic Model Predictive Control (MPC) for linear time-invariant systems under additive stochastic disturbance, whose probability distribution is unknown but can be partially inferred from data. We propose a novel online learning based risk-averse stochastic MPC framework in which Conditional Value-at-Risk (CVaR) constraints on system states are required to hold for a family of distributions called an ambiguity set. The ambiguity set is constructed from disturbance data by leveraging a Dirichlet process mixture model that is self-adaptive to the underlying data structure and complexity. Specifically, the structural property of multimodality is exploit-ed, so that the first- and second-order moment information of each mixture component is incorporated into the ambiguity set. A novel constraint tightening strategy is then developed based on an equivalent reformulation of distributionally ro-bust CVaR constraints over the proposed ambiguity set. As more data are gathered during the runtime of the controller, the ambiguity set is updated online using real-time disturbance data, which enables the risk-averse stochastic MPC to cope with time-varying disturbance distributions. The online variational inference algorithm employed does not require all collected data be learned from scratch, and therefore the proposed MPC is endowed with the guaranteed computational complexity of online learning. The guarantees on recursive feasibility and closed-loop stability of the proposed MPC are established via a safe update scheme. Numerical examples are used to illustrate the effectiveness and advantages of the proposed MPC.