Model-free predictive optimal iterative learning control using reinforcement learning

Zhang, Yueqing, Chu, Bing and Shu, Zhan (2022) Model-free predictive optimal iterative learning control using reinforcement learning. In 2022 American Control Conference (ACC). vol. 2022-June, IEEE. pp. 3279-3284 . (doi:10.23919/ACC53348.2022.9867561).

Record type: Conference or Workshop Item (Paper)

Abstract

Iterative learning control (ILC) is a high-performance control design method for systems working in repetitive manner and has seen many applications in practice. Predictive optimal ILC, a well-known design algorithm, updates the input for the next trial by optimising a performance index defined over (predicted) future trials and has many appealing convergence properties, e.g. monotonic error norm convergence guarantee. This is achieved, however, using a system model which can be difficult or expensive to obtain in practice. To address this problem, this paper develops a model-free predictive optimal ILC algorithm using recent developments in reinforcement learning. The algorithm can learn the predictive optimal ILC controller without using any system model. We provide a rigorous convergence proof of the developed algorithm which is generally not trivial for reinforcement learning based control design. A numerical example is presented to demonstrate the effectiveness of the proposed algorithm.

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e-pub ahead of print date: 8 June 2022

Published date: 5 September 2022

Additional Information: Funding Information: *This work was partially supported by the ZZU-Southampton Collaborative Research Project 16306/01 and the China Scholarship Council (CSC) 1Yueqing Zhang and Bing Chu are with the Faculty of Engineering and Physical Sciences, University of Southampton, SO17 1BJ Southampton, UK {yz3n17, b.chu}@soton.ac.uk 2Zhan Shu is with the Department of Electrical and Computer Engineering, University of Alberta, Edmonton, T6G 1H9, Canada zshu1@ualberta.ca Publisher Copyright: © 2022 American Automatic Control Council.

Venue - Dates: 2022 American Control Conference, ACC 2022, , Atlanta, United States, 2022-06-08 - 2022-06-10