自动驾驶控制领域刚刚入门的研一小白,最近导师开始让我做data-driven控制相关的方向,由于我之前对数据驱动有过一定的了解,并且之前一直在做传统的基于2自由度车辆转向MPC控制,因此找到了IEEE TAC上的一篇比较经典的数据驱动MPC的文章,精读了一番大概写了一下个人的见解。由于刚刚入门,如果有不对的地方还请领域内外大佬...
Model predictive controlgap metriclinear time-varying model predictive controldifferential dynamic programmingWe propose a design of data-driven Model Predictive Control (MPC) using a suboptimal trajectory and the linear time-varying (LTV) models from data-driven trajectory optimisation that achieves offset...
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所以这里我认为data-driven control可以大致分为：data-driven modeling+control和model/model-free+control...
Data-Driven Control DeePC 数据采集 状态估计和轨迹预测 摘要 考虑未知系统的最优轨迹跟踪问题,提出了一种新的data-enabled predictive control (DeePC)算法,该算法使用实时反馈驱动未知系统沿着期望的轨迹,同时满足系统约束,来计算最优和安全控制策略。使用来自未知系统的有限数量的数据样本,我们提出的算法使用行为系统...
The goal of this paper is to present an end-to-end, data-driven framework to control Autonomous Mobility-on-Demand systems (AMoD, i.e. fleets of self-driving vehicles). We first model the AMoD system using a time-expanded network, and present a formulation that computes the optimal reba...
Learning Model Predictive Control for Iterative Tasks. A Data-Driven Control Framework 一、问题提出 Dynamic function 系统描述 二、LMPC 构建 Sampled Safe Set 采样安全集的构建 Iteration cost 迭代成本的构建 LMPC 公式的构建 三、证明 迭代可行性
数据驱动控制（DDC）是无模型控制算法。你也可以理解成DDC是先依靠我们所控系统的输入输出进行了一个“...
Explore how you can design, simulate, and implement data-driven control techniques using MATLAB and Simulink.
Learning Model Predictive Control for Iterative Tasks. A Data-Driven Control Framework You 各位小伙伴们,肥肠抱歉,张飞的资料已经不见啦 1 人赞同了该文章 一句话 MPC:在每个采用点处,根据被控对象的状态和预测模型,预测系统在未来一段时间内的状态,依据某一性能指标(成本函数)来求解最优的一组控制序列,并将...