Gaussian Process Based Modeling and Control of Affine Systems with Control Saturation Constraints
<p>Model-based methods require an accurate dynamic model to design the controller. However, the hydraulic parameters of nonlinear systems, complex friction, or actuator dynamics make it challenging to obtain accurate models. In this case, using the input-output data of the system to learn a dy...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Tsinghua University Press
2023-09-01
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| Series: | Complex System Modeling and Simulation |
| Subjects: | |
| Online Access: | https://www.sciopen.com/article/10.23919/CSMS.2023.0009 |
| _version_ | 1797662813325361152 |
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| author | Shulong Zhao Qipeng Wang Jiayi Zheng Xiangke Wang |
| author_facet | Shulong Zhao Qipeng Wang Jiayi Zheng Xiangke Wang |
| author_sort | Shulong Zhao |
| collection | DOAJ |
| description | <p>Model-based methods require an accurate dynamic model to design the controller. However, the hydraulic parameters of nonlinear systems, complex friction, or actuator dynamics make it challenging to obtain accurate models. In this case, using the input-output data of the system to learn a dynamic model is an alternative approach. Therefore, we propose a dynamic model based on the Gaussian process (GP) to construct systems with control constraints. Since GP provides a measure of model confidence, it can deal with uncertainty. Unfortunately, most GP-based literature considers model uncertainty but does not consider the effect of constraints on inputs in closed-loop systems. An auxiliary system is developed to deal with the influence of the saturation constraints of input. Meanwhile, we relax the nonsingular assumption of the control coefficients to construct the controller. Some numerical results verify the rationality of the proposed approach and compare it with similar methods.</p> |
| first_indexed | 2024-03-11T19:05:31Z |
| format | Article |
| id | doaj.art-9a6486d0ff7e4591a3f36b8ccff4dd0d |
| institution | Directory Open Access Journal |
| issn | 2096-9929 |
| language | English |
| last_indexed | 2024-03-11T19:05:31Z |
| publishDate | 2023-09-01 |
| publisher | Tsinghua University Press |
| record_format | Article |
| series | Complex System Modeling and Simulation |
| spelling | doaj.art-9a6486d0ff7e4591a3f36b8ccff4dd0d2023-10-10T08:36:01ZengTsinghua University PressComplex System Modeling and Simulation2096-99292023-09-013325226010.23919/CSMS.2023.0009Gaussian Process Based Modeling and Control of Affine Systems with Control Saturation ConstraintsShulong Zhao0Qipeng Wang1Jiayi Zheng2Xiangke Wang3College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, ChinaCollege of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, ChinaCollege of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, ChinaCollege of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China<p>Model-based methods require an accurate dynamic model to design the controller. However, the hydraulic parameters of nonlinear systems, complex friction, or actuator dynamics make it challenging to obtain accurate models. In this case, using the input-output data of the system to learn a dynamic model is an alternative approach. Therefore, we propose a dynamic model based on the Gaussian process (GP) to construct systems with control constraints. Since GP provides a measure of model confidence, it can deal with uncertainty. Unfortunately, most GP-based literature considers model uncertainty but does not consider the effect of constraints on inputs in closed-loop systems. An auxiliary system is developed to deal with the influence of the saturation constraints of input. Meanwhile, we relax the nonsingular assumption of the control coefficients to construct the controller. Some numerical results verify the rationality of the proposed approach and compare it with similar methods.</p>https://www.sciopen.com/article/10.23919/CSMS.2023.0009gaussian process (gp)auxiliary systemcredibilityconstraints input |
| spellingShingle | Shulong Zhao Qipeng Wang Jiayi Zheng Xiangke Wang Gaussian Process Based Modeling and Control of Affine Systems with Control Saturation Constraints Complex System Modeling and Simulation gaussian process (gp) auxiliary system credibility constraints input |
| title | Gaussian Process Based Modeling and Control of Affine Systems with Control Saturation Constraints |
| title_full | Gaussian Process Based Modeling and Control of Affine Systems with Control Saturation Constraints |
| title_fullStr | Gaussian Process Based Modeling and Control of Affine Systems with Control Saturation Constraints |
| title_full_unstemmed | Gaussian Process Based Modeling and Control of Affine Systems with Control Saturation Constraints |
| title_short | Gaussian Process Based Modeling and Control of Affine Systems with Control Saturation Constraints |
| title_sort | gaussian process based modeling and control of affine systems with control saturation constraints |
| topic | gaussian process (gp) auxiliary system credibility constraints input |
| url | https://www.sciopen.com/article/10.23919/CSMS.2023.0009 |
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