Here, we present a data-driven ship heading controller, which combines the Gaussian process (GP) and MPC. The proposed method can identify the ship maneuvering model without any prior knowledge, and realize the heading control and waypoints following based on the learned nonparametric model. The ...
1.1. Related work on data-driven model predictive control In scientific literature, various publications demonstrate the high potential of data-driven MPC in different fields of applications. Exemplary applications besides the building sector can be found in chemical engineering [22], engine control [23...
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...
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控制模型 (1)xt+1=f(xt,ut) (2)xt∈χ,ut∈υ 其中,(1)表示模型的动力学方程,(2)表示模型的状态约束、输入约束。不过我觉得这篇论文的约束还少了一个输入和状态的联合约束(比如功率约束)。 因为这个论文讨论的是迭代方法,所以将第j次迭代的输入和状态轨迹分别表示为: ...
If you would like to learn about other data-driven techniques, please see reinforcement learning and deep learning-based model predictive control Reinforcement Learning Deep Learning-Based Model Predictive Control15:46 Video length is 15:46 What is Extremum Seeking Control Get an introduction to an...
the predictive control has weak robustness because of the heavy dependence on the model accuracy for the achieved performance, so its application in the high-end manufacturing field is restricted. A data-driven model is adopted in the model-free predictive control strategy to essentially eliminate th...
Control the CoM motion of robot and object by combining the known CoM-ZMP model and the learned object dynamics model. $ rosrun data_driven_mpc TestMpcPushWalk --gtest_filter=*.RunMPC $ rosrun data_driven_mpc plotTestMpcPushWalk.py MPC for cart pushing Control the position and angle of...
Learn about the products that support AI and data-driven control techniques for control system design applications. Simulink Control Design Model Predictive Control Toolbox System Identification Toolbox Reinforcement Learning Toolbox Fuzzy Logic Toolbox ...
For the speed tracking control problem of electric multiple unit, the dependence of the existing model-based control methods on the system dynamic model and the complexity of the time-varying parameter estimation algorithm of the traditional model-free a