Event-Triggered Learning for Linear Quadratic Control

• 成果类型: Article
• 署名作者: Schlueter, Henning; Solowjow, Friedrich; Trimpe, Sebastian
• 署名单位: University of Stuttgart; Max Planck Society; RWTH Aachen University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.3030877
• 发表日期: 2021
• 页码: 4485-4498
• 关键词: Optimal control; PROCESS CONTROL; Numerical models; data models; predictive models; Adaptive control; Event-triggered learning (ETL); optimal control; Statistical learning; Stochastic systems

摘要

When models are inaccurate, the performance of model-based control will degrade. For linear quadratic control, an event-triggered learning framework is proposed that automatically detects inaccurate models and triggers the learning of a new process model when needed. This is achieved by analyzing the probability distribution of the linear quadratic cost and designing a learning trigger that leverages Chernoff bounds. In particular, whenever empirically observed cost signals are located outside the derived confidence intervals, we can provably guarantee that this is with high probability due to a model mismatch. With the aid of numerical and hardware experiments, we demonstrate that the proposed bounds are tight and that the event-triggered learning algorithm effectively distinguishes between inaccurate models and probabilistic effects, such as process noise. Thus, a structured approach is obtained that decides when model learning is beneficial.