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Real‐time parameter estimation for sensitivity‐based LQ regulator adaptation
Author(s) -
Runge Margareta,
Flaßkamp Kathrin,
Büskens Christof
Publication year - 2021
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.202000292
Subject(s) - control theory (sociology) , linear quadratic regulator , parametric statistics , sensitivity (control systems) , inverted pendulum , regulator , estimation theory , benchmark (surveying) , mathematics , parametrization (atmospheric modeling) , computer science , optimal control , mathematical optimization , nonlinear system , control (management) , algorithm , engineering , physics , artificial intelligence , electronic engineering , geography , chemistry , biochemistry , geodesy , quantum mechanics , statistics , gene , radiative transfer
In this contribution we consider linear quadratic regulator problems subject to parameter perturbations within the system dynamics. Due to the perturbations, optimality of the regulator would be lost. Iteratively recomputing the optimal feedback matrix is likely to be too costly for real‐time applications, but approximated updates using parametric sensitivities can be efficiently derived. Online parameter identification is applied in order to obtain current parameter perturbations to which the controller shall be adapted. Numerical results for the benchmark example of the inverted pendulum on a cart are discussed.