Print Email Facebook Twitter Near-optimal control with adaptive receding horizon for discrete-time piecewise affine systems Title Near-optimal control with adaptive receding horizon for discrete-time piecewise affine systems Author Xu, J. (TU Delft Team Bart De Schutter) Buşoniu, Lucian (Technical University of Cluj-Napoca) De Schutter, B.H.K. (TU Delft Team Bart De Schutter) Contributor Dochain, D (editor) Henrion, D (editor) Peaucelle, D (editor) Date 2017 Abstract We 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. Subject near-optimality analysisnonlinear predictive controloptimistic planningpiecewise affine systems To reference this document use: http://resolver.tudelft.nl/uuid:7ae33605-2335-4e53-b691-69cccd44e4d7 DOI https://doi.org/10.1016/j.ifacol.2017.08.806 Publisher Elsevier, Laxenburg, Austria Source IFAC-PapersOnLine: Proceedings 20th IFAC World Congress, 50-1 Event 20th World Congress of the International Federation of Automatic Control (IFAC), 2017, 2017-07-09 → 2017-07-14, Toulouse, France Series IFAC-PapersOnLine, 2405-8963, 50 (1) Part of collection Institutional Repository Document type conference paper Rights © 2017 J. Xu, Lucian Buşoniu, B.H.K. De Schutter Files PDF 1_s2.0_S2405896317312600_main.pdf 559.6 KB Close viewer /islandora/object/uuid:7ae33605-2335-4e53-b691-69cccd44e4d7/datastream/OBJ/view