| Autor: |
Huang, Tzu-Yuan, Lederer, Armin, Hoischen, Nicolas, Brüdigam, Jan, Xiao, Xuehua, Sosnowski, Stefan, Hirche, Sandra |
| Rok vydání: |
2024 |
| Předmět: |
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| Druh dokumentu: |
Working Paper |
| Popis: |
Achieving global optimality in nonlinear model predictive control (NMPC) is challenging due to the non-convex nature of the underlying optimization problem. Since commonly employed local optimization techniques depend on carefully chosen initial guesses, this non-convexity often leads to suboptimal performance resulting from local optima. To overcome this limitation, we propose a novel diffusion model-based approach for near-globally optimal NMPC consisting of an offline and an online phase. The offline phase employs a local optimizer to sample from the distribution of optimal NMPC control sequences along generated system trajectories through random initial guesses. Subsequently, the generated diverse data set is used to train a diffusion model to reflect the multi-modal distribution of optima. In the online phase, the trained model is leveraged to efficiently perform a variant of random shooting optimization to obtain near-globally optimal control sequences without relying on any initial guesses or online NMPC solving. The effectiveness of our approach is illustrated in a numerical simulation indicating high performance benefits compared to direct neural network approximations of NMPC and significantly lower computation times than online solving NMPC using global optimizers. |
| Databáze: |
arXiv |
| Externí odkaz: |
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