**Are you an EPFL student looking for a semester project?**

Work with us on data science and visualisation projects, and deploy your project as an app on top of Graph Search.

Publication# KPC: Learning-Based Model Predictive Control with Deterministic Guarantees

Abstract

We propose Kernel Predictive Control (KPC), a learning-based predictive control strategy that enjoys deterministic guarantees of safety. Noise-corrupted samples of the unknown system dynamics are used to learn several models through the formalism of non-parametric kernel regression. By treating each prediction step individually, we dispense with the need of propagating sets through highly non-linear maps, a procedure that often involves multiple conservative approximation steps. Finite-sample error bounds are then used to enforce state-feasibility by employing an efficient robust formulation. We then present a relaxation strategy that exploits on-line data to weaken the optimization problem constraints while preserving safety. Two numerical examples are provided to illustrate the applicability of the proposed control method.

Official source

This page is automatically generated and may contain information that is not correct, complete, up-to-date, or relevant to your search query. The same applies to every other page on this website. Please make sure to verify the information with EPFL's official sources.

Related MOOCs (32)

Related publications (92)

Related concepts (33)

Optimization: principles and algorithms - Linear optimization

Introduction to linear optimization, duality and the simplex algorithm.

Optimization: principles and algorithms - Linear optimization

Introduction to linear optimization, duality and the simplex algorithm.

Optimization: principles and algorithms - Network and discrete optimization

Introduction to network optimization and discrete optimization

Nonparametric regression

Nonparametric regression is a category of regression analysis in which the predictor does not take a predetermined form but is constructed according to information derived from the data. That is, no parametric form is assumed for the relationship between predictors and dependent variable. Nonparametric regression requires larger sample sizes than regression based on parametric models because the data must supply the model structure as well as the model estimates.

Kernel regression

In statistics, kernel regression is a non-parametric technique to estimate the conditional expectation of a random variable. The objective is to find a non-linear relation between a pair of random variables X and Y. In any nonparametric regression, the conditional expectation of a variable relative to a variable may be written: where is an unknown function. Nadaraya and Watson, both in 1964, proposed to estimate as a locally weighted average, using a kernel as a weighting function.

Optimization problem

In mathematics, computer science and economics, an optimization problem is the problem of finding the best solution from all feasible solutions. Optimization problems can be divided into two categories, depending on whether the variables are continuous or discrete: An optimization problem with discrete variables is known as a discrete optimization, in which an object such as an integer, permutation or graph must be found from a countable set.

Non-convex constrained optimization problems have become a powerful framework for modeling a wide range of machine learning problems, with applications in k-means clustering, large- scale semidefinite programs (SDPs), and various other tasks. As the perfor ...

Control systems operating in real-world environments often face disturbances arising from measurement noise and model mismatch. These factors can significantly impact the perfor- mance and safety of the system. In this thesis, we aim to leverage data to de ...

The ongoing global warming situation has bolstered interests in developing and reinforcing green energy. One of the most promising fields is hydropower (Ahmad and Hossain, 2020 and Yazdi and Moridi, 2018). Many existing reservoirs have untapped potential t ...

2023