论文标题
关于规律性及其在线控制不稳定LTI系统的应用
On Regularizability and its Application to Online Control of Unstable LTI Systems
论文作者
论文摘要
通过直接策略更新说,学习通常需要假设,例如先验知道初始策略(增益)正在稳定或持续令人兴奋的(PE)输入输出数据。在本文中,我们在线调查(可能不稳定的)部分未知线性系统,没有事先访问初始稳定控制器或PE输入输入数据;相反,我们利用输入矩阵的知识进行在线法规。首先,我们介绍并表征了线性系统的“正规化性”的概念,该系统可以根据有限的时间来调节系统的渐近行为(通常以稳定性/可控性的特征)来调节系统的程度。接下来,仅访问输入矩阵,我们提出了数据引导的法规(DGR)综合程序(顾名思义)调节基本状态,同时还产生了可用于数据驱动的稳定或系统识别的信息性数据。我们通过排名第一的更新进一步提高了DGR的计算性能,并展示了其在X-29飞机在线调节中的实用性。
Learning, say through direct policy updates, often requires assumptions such as knowing a priori that the initial policy (gain) is stabilizing, or persistently exciting (PE) input-output data, is available. In this paper, we examine online regulation of (possibly unstable) partially unknown linear systems with no prior access to an initial stabilizing controller nor PE input-output data; we instead leverage the knowledge of the input matrix for online regulation. First, we introduce and characterize the notion of "regularizability" for linear systems that gauges the extent by which a system can be regulated in finite-time in contrast to its asymptotic behavior (commonly characterized by stabilizability/controllability). Next, having access only to the input matrix, we propose the Data-Guided Regulation (DGR) synthesis procedure that -- as its name suggests -- regulates the underlying state while also generating informative data that can subsequently be used for data-driven stabilization or system identification. We further improve the computational performance of DGR via a rank-one update and demonstrate its utility in online regulation of the X-29 aircraft.