System and method for controller adaptation
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United States of America Patent
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Aug 29, 2017
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Sep 29, 2015
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Sep 30, 2014
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Abstract
A neural-Model Predictive Control (MPC) controller is described to control a dynamical system (i.e., “plant”). The MPC controller receives, in a base controller, a measurement of a current state of a plant and generates a control signal based on the measurement of the current state of the plant. A forward module receives the measurement of the current state of the plant and the control signal to generate a forward module prediction. A forward module corrector receives the measurement of the current state of the plant and the control signal from the base controller to generate an additive correction to the forward module prediction to generate a predicted plant state. Control sequences of length L of pairs of control signals and corresponding predicted plant states are generated until Ns control sequences have been generated. A next plant control signal is generated based on the Ns control sequences.
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