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arXiv · 2407.16066

Online Reduced-Order Data-Enabled Predictive Control

Amin Vahidi-Moghaddam·Kaixiang Zhang·Xunyuan Yin·Vaibhav Srivastava·Zhaojian Li
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Abstract

Data-enabled predictive control (DeePC) has garnered significant attention for its ability to achieve safe, data-driven optimal control without relying on explicit system models. Traditional DeePC methods use pre-collected input/output (I/O) data to construct Hankel matrices for online predictive control. However, in systems with evolving dynamics or insufficient pre-collected data, incorporating real-time data into the DeePC framework becomes crucial to enhance control performance. This paper proposes an online DeePC framework for time-varying systems (i.e., systems with evolving dynamics), enabling the algorithm to update the Hankel matrix online by adding real-time informative signals. By exploiting the minimum non-zero singular value of the Hankel matrix, the developed online DeePC selectively integrates informative data and effectively captures evolving system dynamics. Additionally, a numerical singular value decomposition technique is introduced to reduce the computational complexity for updating a reduced-order Hankel matrix. Simulation results on two cases, a linear time-varying system and the vehicle anti-rollover control, demonstrate the effectiveness of the proposed online reduced-order DeePC framework.

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Amin Vahidi-Moghaddam, Kaixiang Zhang, Xunyuan Yin, Vaibhav Srivastava, Zhaojian Li. 2024-07-22. Online Reduced-Order Data-Enabled Predictive Control. https://arxiv.org/abs/2407.16066

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