Model predictive control with uncertainties
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United States of America Patent
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Feb 20, 2018
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app pub date -
Aug 5, 2014
filing date -
Aug 5, 2014
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Abstract
A method controls a system for a multiple control steps according to the reference trajectory of a task of the operation to produce an actual trajectory of the system completing the task of the operation. For each control step, a control input to the system is determined using a model predictive control (MPC) having at least one parameter of uncertainty. The method determines a value of a learning cost function of a distance between the reference trajectory and the actual trajectory and determines, using a model free optimization, a value of the parameter of uncertainty reducing the value of the learning cost function. Next, the method determines a set of control inputs for completing the task according to the reference trajectory using the MPC with the updated parameter of uncertainty.
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