Combined Learning of Linear Parameter-Varying Models and Robust Control Invariant Sets

TL;DR

This paper introduces a novel data-driven control method that jointly learns models and robust control invariant sets to ensure controller existence and constraint enforcement in nonlinear systems.

Contribution

It proposes a combined learning algorithm for uncertain and nominal models with a regularization based on the largest robust control invariant set, using a novel qLPV model parameterization.

Findings

Effective in classical benchmarks

Ensures controller existence post-identification

Demonstrates data-driven control of constrained nonlinear systems

Abstract

Dynamical models identified from data are frequently employed in control system design. However, decoupling system identification from controller synthesis can result in situations where no suitable controller exists after a model has been identified. In this work, we introduce a novel control-oriented regularization in the identification procedure to ensure the existence of a controller that can enforce constraints on system variables robustly. The combined identification algorithm includes: (i) the concurrent learning of an uncertain model and a nominal model using an observer; (ii) a regularization term on the model parameters defined as the size of the largest robust control invariant set for the uncertain model. To make the learning problem tractable, we consider nonlinear models in quasi Linear Parameter-Varying (qLPV) form, utilizing a novel scheduling function parameterization that facilitates the derivation of an associated uncertain linear model. The robust control invariant set is represented as a polytope, and we adopt novel results from polytope geometry to derive the regularization function as the optimal value of a convex quadratic program. Additionally, we present new model-reduction approaches that exploit the chosen model structure. Numerical examples on classical identification benchmarks demonstrate the efficacy of our approach. A simple control scheme is also derived to provide an example of data-driven control of a constrained nonlinear system.