Risk-Informed Model-Free Safe Control of Linear Parameter-Varying Systems
文献类型：期刊论文
| 作者 | Babak Esmaeili; Hamidreza Modares |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2024 |
| 卷号 | 11期号:9页码:1918-1932 |
| 关键词 | Data-driven control linear parameter-varying systems probabilistic control safe control |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2024.124479 |
| 英文摘要 | This paper presents a risk-informed data-driven safe control design approach for a class of stochastic uncertain nonlinear discrete-time systems. The nonlinear system is modeled using linear parameter-varying (LPV) systems. A model-based probabilistic safe controller is first designed to guarantee probabilistic $\lambda $-contractivity (i.e., stability and invariance) of the LPV system with respect to a given polyhedral safe set. To obviate the requirement of knowing the LPV system model and to bypass identifying its open-loop model, its closed-loop data-based representation is provided in terms of state and scheduling data as well as a decision variable. It is shown that the variance of the closed-loop system, as well as the probability of safety satisfaction, depends on the decision variable and the noise covariance. A minimum-variance direct data-driven gain-scheduling safe control design approach is presented next by designing the decision variable such that all possible closed-loop system realizations satisfy safety with the highest confidence level. This minimum-variance approach is a control-oriented learning method since it minimizes the variance of the state of the closed-loop system with respect to the safe set, and thus minimizes the risk of safety violation. Unlike the certainty-equivalent approach that results in a risk-neutral control design, the minimum-variance method leads to a risk-averse control design. It is shown that the presented direct risk-averse learning approach requires weaker data richness conditions than existing indirect learning methods based on system identification and can lead to a lower risk of safety violation. Two simulation examples along with an experimental validation on an autonomous vehicle are provided to show the effectiveness of the presented approach. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/58805]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Babak Esmaeili,Hamidreza Modares. Risk-Informed Model-Free Safe Control of Linear Parameter-Varying Systems[J]. IEEE/CAA Journal of Automatica Sinica,2024,11(9):1918-1932. |
| APA | Babak Esmaeili,&Hamidreza Modares.(2024).Risk-Informed Model-Free Safe Control of Linear Parameter-Varying Systems.IEEE/CAA Journal of Automatica Sinica,11(9),1918-1932. |
| MLA | Babak Esmaeili,et al."Risk-Informed Model-Free Safe Control of Linear Parameter-Varying Systems".IEEE/CAA Journal of Automatica Sinica 11.9(2024):1918-1932. |
入库方式： OAI收割
来源：自动化研究所
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