• norsk
    • English
  • English 
    • norsk
    • English
  • Login
View Item 
  •   Home
  • Øvrige samlinger
  • Publikasjoner fra CRIStin - NTNU
  • View Item
  •   Home
  • Øvrige samlinger
  • Publikasjoner fra CRIStin - NTNU
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Stochastic Nonlinear Model Predictive Control Using Gaussian Processes

Bradford, Eric; Imsland, Lars Struen
Chapter
Accepted version
Thumbnail
View/Open
European_control_conference_2018.pdf (1.112Mb)
URI
http://hdl.handle.net/11250/2585269
Date
2018
Metadata
Show full item record
Collections
  • Institutt for teknisk kybernetikk [2251]
  • Publikasjoner fra CRIStin - NTNU [20954]
Original version
10.23919/ECC.2018.8550249
Abstract
Model predictive control is a popular control approach for multivariable systems with important process constraints. The presence of significant stochastic uncertainties can however lead to closed-loop performance and infeasibility issues. A remedy is given by stochastic model predictive control, which exploits the probability distributions of the uncertainties to formulate probabilistic constraints and objectives. For nonlinear systems the difficulty of propagating stochastic uncertainties is a major obstacle for online implementations. In this paper we propose to use Gaussian processes to obtain a tractable framework for handling nonlinear optimal control problems with Gaussian parametric uncertainties. It is shown how this technique can be used to formulate nonlinear chance constraints. The method is verified by showing the ability of the Gaussian process to accurately approximate the probability density function of the underlying system and by the closed-loop behaviour of the algorithm via Monte Carlo simulations on an economic batch reactor case study.
Publisher
Institute of Electrical and Electronics Engineers (IEEE)

Contact Us | Send Feedback

Privacy policy
DSpace software copyright © 2002-2019  DuraSpace

Service from  Unit
 

 

Browse

ArchiveCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsDocument TypesJournalsThis CollectionBy Issue DateAuthorsTitlesSubjectsDocument TypesJournals

My Account

Login

Statistics

View Usage Statistics

Contact Us | Send Feedback

Privacy policy
DSpace software copyright © 2002-2019  DuraSpace

Service from  Unit