Robust data-driven predictive control of unknown nonlinear systems using reachability analysis

DOI10.1016/J.EJCON.2023.100878MaRDI QIDQ6092487zbMATH OpenOpenAlexFDO

Authors Mahsa Farjadnia, Amr Alanwar, Muhammad Umar B. Niazi, Marco Molinari, Karl Henrik Johansson

Publication date 23 November 2023

Published in European Journal of Control (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://arxiv.org/abs/2211.05867

zbMATH Keywords

data-driven methodsnonlinear systemspredictive controlreachability analysiszonotopes

Mathematics Subject Classification ID

Attainable sets, reachability (93B03) Sensitivity (robustness) (93B35) Model predictive control (93B45) Nonlinear systems in control theory (93C10)

Abstract: This work proposes a robust data-driven predictive control approach for unknown nonlinear systems in the presence of bounded process and measurement noise. Data-driven reachable sets are employed for the controller design instead of using an explicit nonlinear system model. Although the process and measurement noise are bounded, the statistical properties of the noise are not required to be known. By using the past noisy input-output data in the learning phase, we propose a novel method to over-approximate reachable sets of an unknown nonlinear system. Then, we propose a data-driven predictive control approach to compute safe and robust control policies from noisy online data. The constraints are guaranteed in the control phase with robust safety margins through the effective use of the predicted output reachable set obtained in the learning phase. Finally, a numerical example validates the efficacy of the proposed approach and demonstrates comparable performance with a model-based predictive control approach.

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Cites work

• A note on persistency of excitation
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Cited in

(9)

• Data-driven robust control of unknown MIMO nonlinear system subject to input saturations and disturbances
• Robust data-driven predictive control using reachability analysis
• Data-based robust optimal control of continuous-time affine nonlinear systems with matched uncertainties
• Data-Driven Reachability and Support Estimation With Christoffel Functions
• Robust Data-Enabled Predictive Control: Tractable Formulations and Performance Guarantees
• Data‐driven predictive control for a class of uncertain control‐affine systems
• Robust data-driven predictive control for unknown linear time-invariant systems
• Data-driven invariant set for nonlinear systems with application to command governors
• Chance-constrained reachability analysis for data-driven predictive control of unknown nonlinear systems.

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