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...
博士做的是data-driven predictive control，所以简单谈下自己的理解吧，有谬误之处，还请见谅。1. MPC...
1. Introduction 2. Background 3. Methods 4. Data-driven predictive control approaches 5. Discussion 6. Conclusions 7. Recommendations and future work Declaration of competing interest Acknowledgements ReferencesShow full outline Cited by (217) Figures (4) Tables (3) Table 1 Table 2 Table 3Renew...
Building model predictive control (MPC) relies on a white- or grey-box model that can require significant time and domain knowledge to develop and calibrate, often on an ad hoc basis. Black-box models can be developed and trained with limited domain knowledge and are easily transferable. In ...
However, due to the heterogeneous nature of the building stock, developing computationally tractable control-oriented models, which adequately represent the complex and nonlinear thermal-dynamics of individual buildings, is proving to be a major hurdle. Data-driven predictive control, coupled with the "...
Data-driven predictive control methods based on the Willems' fundamental lemma have shown great success in recent years. These approaches use receding horizon predictive control with nonparametric data-driven predictors instead of model-based predictors. This study addresses three problems of applying such...
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
Data-Driven Predictive Control for Autonomous Systems In autonomous systems, the ability to make forecasts and cope with uncertain predictions is synonymous with intelligence. Model predictive control (MPC) is an established control methodology that systematically uses forecasts to compute ... U Rosolia...
As a useful and efficient alternative to generic model-based control scheme, data-driven predictive control is subject to bias-variance trade-off and is known to not perform desirably in face of uncertainty. Through the connection between direct data-driven control and subspace predictive control, ...
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“...