文章基本信息

标题：Near-optimal control with adaptive receding horizon for discrete-time piecewise affine systems
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作者：Jia Xu ; Lucian Buşoniu ; Bart De Schutter 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：4168-4173
DOI：10.1016/j.ifacol.2017.08.806
语种：English
出版社：Elsevier
摘要：AbstractWe consider the infinite-horizon optimal control of discrete-time, Lipschitz continuous piecewise affine systems with a single input. Stage costs are discounted, bounded, and use a 1 or ∞-norm. Rather than using the usual fixed-horizon approach from model-predictive control, we tailor an adaptive-horizon method called optimistic planning for continuous actions (OPC) to solve the piecewise affine control problem in receding horizon. The main advantage is the ability to solve problems requiring arbitrarily long horizons. Furthermore, we introduce a novel extension that provides guarantees on the closed-loop performance, by reusing data (“learning”) across different steps. This extension is general and works for a large class of nonlinear dynamics. In experiments with piecewise affine systems, OPC improves performance compared to a fixed-horizon approach, while the data-reuse approach yields further improvements.
关键词：Keywordspiecewise affine systemsnonlinear predictive controloptimistic planningnear-optimality analysis