Online convex optimization for constrained control of linear systems using a reference governor

Publikation: Beitrag in FachzeitschriftKonferenzaufsatz in FachzeitschriftForschungPeer-Review

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  • ETH Zürich
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OriginalspracheEnglisch
Seiten (von - bis)2570-2575
Seitenumfang6
FachzeitschriftIFAC-PapersOnLine
Jahrgang56
Ausgabenummer2
Frühes Online-Datum22 Nov. 2023
PublikationsstatusVeröffentlicht - 2023
Veranstaltung22nd IFAC World Congress - Yokohama, Japan
Dauer: 9 Juli 202314 Juli 2023

Abstract

In this work, we propose a control scheme for linear systems subject to pointwise in time state and input constraints that aims to minimize time-varying and a priori unknown cost functions. The proposed controller is based on online convex optimization and a reference governor. In particular, we apply online gradient descent to track the time-varying and a priori unknown optimal steady state of the system. Moreover, we use a λ-contractive set to enforce constraint satisfaction and a sufficient convergence rate of the closed-loop system to the optimal steady state. We prove that the proposed scheme is recursively feasible, ensures that the state and input constraints are satisfied at all times, and achieves a dynamic regret that is linearly bounded by the variation of the cost functions. The algorithm's performance and constraint satisfaction is illustrated by means of a simulation example.

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Online convex optimization for constrained control of linear systems using a reference governor. / Nonhoff, Marko; Köhler, Johannes; Müller, Matthias A.
in: IFAC-PapersOnLine, Jahrgang 56, Nr. 2, 2023, S. 2570-2575.

Publikation: Beitrag in FachzeitschriftKonferenzaufsatz in FachzeitschriftForschungPeer-Review

Nonhoff M, Köhler J, Müller MA. Online convex optimization for constrained control of linear systems using a reference governor. IFAC-PapersOnLine. 2023;56(2):2570-2575. Epub 2023 Nov 22. doi: 10.48550/arXiv.2211.09088, 10.1016/j.ifacol.2023.10.1340
Nonhoff, Marko ; Köhler, Johannes ; Müller, Matthias A. / Online convex optimization for constrained control of linear systems using a reference governor. in: IFAC-PapersOnLine. 2023 ; Jahrgang 56, Nr. 2. S. 2570-2575.
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AU - Köhler, Johannes

AU - Müller, Matthias A.

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