Kernelized Offset-Free Data-Driven Predictive Control for Nonlinear Systems

IF 2.4 Q2 AUTOMATION & CONTROL SYSTEMS
Thomas de Jong;Mircea Lazar
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Abstract

This letter presents a kernelized offset-free data-driven predictive control scheme for nonlinear systems. Traditional model-based and data-driven predictive controllers often struggle with inaccurate predictors or persistent disturbances, especially in the case of nonlinear dynamics, leading to tracking offsets and stability issues. To overcome these limitations, we employ kernel methods to parameterize the nonlinear terms of a velocity model, preserving its structure and efficiently learning unknown parameters through a least squares approach. This results in a offset-free data-driven predictive control scheme formulated as a nonlinear program, but solvable via sequential quadratic programming. We provide a framework for analyzing recursive feasibility and stability of the developed method and we demonstrate its effectiveness through simulations on a nonlinear benchmark example.
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来源期刊
IEEE Control Systems Letters
IEEE Control Systems Letters Mathematics-Control and Optimization
CiteScore
4.40
自引率
13.30%
发文量
471
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