Data-Driven Self-Triggered Control via Trajectory Prediction

• 成果类型: Article
• 署名作者: Liu, Wenjie; Sun, Jian; Wang, Gang; Bullo, Francesco; Chen, Jie
• 署名单位: Beijing Institute of Technology; Beijing Institute of Technology; Beijing Institute of Technology; University of California System; University of California Santa Barbara; University of California System; University of California Santa Barbara; Tongji University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3244116
• 发表日期: 2023
• 页码: 6951-6958
• 关键词: data-driven control; data-driven model predictive control (MPC); predicted control; self-triggered control

摘要

Self-triggered control, a well-documented technique for reducing the communication overhead while ensuring desired system performance, is gaining increasing popularity. However, a majority of existing self-triggered control methods require explicit system models. An end-to-end control paradigm known as data-driven control designs control laws directly from data and offers a competing alternative to the routine system identification-then-control strategy. In this context, the present article puts forth data-driven self-triggered control schemes for unknown linear systems using input-output data collected offline. Specifically, a data-driven model predictive control (MPC) scheme is proposed, which computes a sequence of control inputs while generating a predicted system trajectory. In addition, a data-driven self-triggering mechanism is designed, which determines the next triggering time using the solution of the data-driven MPC and the newly collected measurements. Finally, both feasibility and stability are established for the proposed self-triggered controller, which are validated using a numerical example.