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AssigneeMitsubishi Electric Research Laboratories, Inc.
InventorsAbraham P. Vinod, Giorgos Mamakoukas, Stefano Di Cairano
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To control a motion of a device subject to constraints, a sequence of states and corresponding control inputs are transformed into a lifted space to determine a linear model of the dynamics of the device in the lifted space by minimizing fitting errors between the lifted states and approximation of the lifted states according to the linear control law. The fitting errors define an error model as a function bounding a data-driven envelope of a Lipschitz continuity on the fitting errors allowing to solve an optimal control problem in the lifted space according to the linear model subject to the constraints reformulated based on an evolution of the error model. The control input in the lifted space is transformed back to the original space for control.
A controller for controlling a motion of a device subject to constraints on the motion of the device, the controller comprising:
A method for controlling a motion of a device subject to constraints on the motion of the device, wherein the method uses a processor coupled with stored instructions implementing the method, wherein the instructions, when executed by the processor carry out steps of the method, comprising:
A non-transitory computer-readable storage medium embodied thereon a program executable by a processor for performing a method for controlling a motion of a device subject to constraints on the motion of the device, the method comprising:
Dependencies are inferred from the claim text.