Print Email Facebook Twitter Learning for Control Title Learning for Control: An Inverse Optimization Approach Author Akhtar, Adnan (TU Delft Mechanical, Maritime and Materials Engineering) Contributor Mohajerin Esfahani, P. (mentor) Degree granting institution Delft University of Technology Programme Mechanical Engineering | Systems and Control Date 2020-08-26 Abstract Data driven learning has become a common practice in many decision making applications. Machine learning techniques are the dominant methods employed but have limitations with respect to constraints satisfaction. A learning method is presented to learn the mapping from an input space to an action space, which is particularly suitable when the action is an optimal decision with respect to a certain unknown cost function. An inverse optimization approach is presented to retrieve the cost function, like inverse reinforcement learning, by introducing anew loss function along with a new hypothesis class of mapping functions. The loss function used is particularly suitable when the action is representative of an ‘expert’ behaviour, that takes actions by cost minimization. A tractable reformulation of the learning problem using the new loss function is also presented. The method is effective for learning input-actionmapping for constrained systems in continuous input-action space, typically present in control systems. The learning approach can be effectively transformed to learn a MPC behaviour and a case study to mimic an MPC is presented, which is a rather computationally heavy control strategy. Simulation results and experiments on a lab helicopter show the effectiveness of the proposed approach. Subject Learning for ControlInverse OptimizationBehavior CloningImitation Learning To reference this document use: http://resolver.tudelft.nl/uuid:ab705d29-b73f-4e58-a2b0-9d22ed23b6ce Embargo date 2022-08-31 Part of collection Student theses Document type master thesis Rights © 2020 Adnan Akhtar Files PDF Thesis_Adnan_Learning_For ... ontrol.pdf 2.31 MB Close viewer /islandora/object/uuid:ab705d29-b73f-4e58-a2b0-9d22ed23b6ce/datastream/OBJ/view