Learning-based Optimal Control of Constrained Switched Linear Systems using Neural Networks

Lukas Markolf, Olaf Stursberg

2021

Abstract

This work considers (deep) artificial feed-forward neural networks as parametric approximators in optimal control of discrete-time switched linear systems with controlled switching. The proposed approach is based on approximate dynamic programming and allows the fast computation of (sub-)optimal discrete and continuous control inputs, either by approximating the optimal cost-to-go functions or by approximating the optimal discrete and continuous input policies. An important property of the approach is the satisfaction of polytopic state and input constraints, which is crucial for ensuring safety, as required in many control applications. A numeric example is provided for illustration and evaluation of the approaches.

Paper Citation

in Harvard Style

Markolf L. and Stursberg O. (2021). Learning-based Optimal Control of Constrained Switched Linear Systems using Neural Networks. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 90-98. DOI: 10.5220/0010581600900098

in Bibtex Style

@conference{icinco21,
author={Lukas Markolf and Olaf Stursberg},
title={Learning-based Optimal Control of Constrained Switched Linear Systems using Neural Networks},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={90-98},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010581600900098},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Learning-based Optimal Control of Constrained Switched Linear Systems using Neural Networks
SN - 978-989-758-522-7
AU - Markolf L.
AU - Stursberg O.
PY - 2021
SP - 90
EP - 98
DO - 10.5220/0010581600900098