论文标题
有效的样本选择以进行安全学习
Efficient sample selection for safe learning
论文作者
论文摘要
确保工业控制系统的安全通常涉及在控制算法的设计阶段施加约束。如果尚不清楚的基本功能形式,执行约束是具有挑战性的。可以通过使用替代模型(例如高斯流程)来解决挑战,该过程提供了用于查找可以被认为是安全的解决方案的置信区间。反过来,这涉及整个搜索空间的详尽搜索。这种方法在计算上很快就会变得昂贵。我们将详尽的搜索重新制定为一系列优化问题,以找到下一个推荐的点。我们表明,所提出的重新制定允许使用多种可用的优化求解器,例如无衍生化方法。我们表明,通过利用求解器的属性,我们可以将新的停止标准引入安全学习方法中,并提高在交易求解器的准确性和计算时间方面的灵活性。非凸优化问题和控制器调整应用的结果证实了拟议的重新印象的灵活性和性能。
Ensuring safety in industrial control systems usually involves imposing constraints at the design stage of the control algorithm. Enforcing constraints is challenging if the underlying functional form is unknown. The challenge can be addressed by using surrogate models, such as Gaussian processes, which provide confidence intervals used to find solutions that can be considered safe. This in turn involves an exhaustive search on the entire search space. That approach can quickly become computationally expensive. We reformulate the exhaustive search as a series of optimization problems to find the next recommended points. We show that the proposed reformulation allows using a wide range of available optimization solvers, such as derivative-free methods. We show that by exploiting the properties of the solver, we enable the introduction of new stopping criteria into safe learning methods and increase flexibility in trading off solver accuracy and computational time. The results from a non-convex optimization problem and an application for controller tuning confirm the flexibility and the performance of the proposed reformulation.