Data-Driven Model Predictive Control With Stability and Robustness Guarantees
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- 1 April 2021
- journal article
- research article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 66 (4), 1702-1717
- https://doi.org/10.1109/tac.2020.3000182
Abstract
We propose a robust data-driven model predictive control (MPC) scheme to control linear time-invariant systems. The scheme uses an implicit model description based on behavioral systems theory and past measured trajectories. In particular, it does not require any prior identification step, but only an initially measured input-output trajectory as well as an upper bound on the order of the unknown system. First, we prove exponential stability of a nominal data-driven MPC scheme with terminal equality constraints in the case of no measurement noise. For bounded additive output measurement noise, we propose a robust modification of the scheme, including a slack variable with regularization in the cost. We prove that the application of this robust MPC scheme in a multistep fashion leads to practical exponential stability of the closed loop w.r.t. the noise level. The presented results provide the first (theoretical) analysis of closed-loop properties, resulting from a simple, purely data-driven MPC scheme.Keywords
Funding Information
- Deutsche Forschungsgemeinschaft (2075—390740016)
- International Max Planck Research School for Intelligent
- Julian Berberich, and the International Research Training Group Soft Tissue Robotics (GRK 2198/1)
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