大規模部分観測系に対する分離型データ駆動制御設計
A Separation-Based Design to Data-Driven Control for Large-Scale Partially Observed Systems
PDEで記述される大規模な部分観測確率最適制御問題に対し、開ループ軌道最適化とデータから同定した線形化系へのLQG制御器設計を分離して行う手法を提案し、非線形熱伝導例で有効性を示した。
著者: Dan Yu, Mohammadhussein Rafieisakhaei, Suman Chakravorty
分類: eess.SY, cs.LG, cs.RO, cs.SY
原文アブストラクト
This paper studies the partially observed stochastic optimal control problem for systems with state dynamics governed by Partial Differential Equations (PDEs) that leads to an extremely large problem. First, an open-loop deterministic trajectory optimization problem is solved using a black box simulation model of the dynamical system. Next, a Linear Quadratic Gaussian (LQG) controller is designed for the nominal trajectory-dependent linearized system, which is identified using input-output experimental data consisting of the impulse responses of the optimized nominal system. A computational nonlinear heat example is used to illustrate the performance of the approach.
