Poster
Perturbation-based Regret Analysis of Predictive Control in Linear Time Varying Systems
Yiheng Lin · Yang Hu · Guanya Shi · Haoyuan Sun · Guannan Qu · Adam Wierman
Keywords: [ Optimization ]
Abstract:
We study predictive control in a setting where the dynamics are time-varying and linear, and the costs are time-varying and well-conditioned. At each time step, the controller receives the exact predictions of costs, dynamics, and disturbances for the future time steps. We show that when the prediction window is sufficiently large, predictive control is input-to-state stable and achieves a dynamic regret of , where is a positive constant. This is the first dynamic regret bound on the predictive control of linear time-varying systems. We also show a variation of predictive control obtains the first competitive bound for the control of linear time-varying systems: . Our results are derived using a novel proof framework based on a perturbation bound that characterizes how a small change to the system parameters impacts the optimal trajectory.
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