The objective of this note is to introduce a novel data-driven iterative linear quadratic control method for solving a class of nonlinear optimal tracking problems. Specifically, an algorithm is proposed to approximate the Q-factors arising from linear quadratic stochastic optimal tracking problems. This algorithm is then coupled with iterative linear quadratic methods for determining local solutions to nonlinear optimal tracking problems in a purely data-driven setting. Simulation results highlight the potential of this method for field applications.
An iterative data-driven linear quadratic method to solve nonlinear discrete-time tracking problems
Incremona, Gian Paolo;
2021-01-01
Abstract
The objective of this note is to introduce a novel data-driven iterative linear quadratic control method for solving a class of nonlinear optimal tracking problems. Specifically, an algorithm is proposed to approximate the Q-factors arising from linear quadratic stochastic optimal tracking problems. This algorithm is then coupled with iterative linear quadratic methods for determining local solutions to nonlinear optimal tracking problems in a purely data-driven setting. Simulation results highlight the potential of this method for field applications.File in questo prodotto:
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