Online Constraint Tightening in Stochastic Model Predictive Control: A Regression Approach

원문 초록

Solving chance-constrained stochastic optimal control problems is a significant challenge in control. This is because no analytical solutions exist for up to a handful of special cases. A common and computationally efficient approach for tackling chance-constrained stochastic optimal control problems consists of reformulating the chance constraints as hard constraints with a constraint-tightening parameter. However, in such approaches, the choice of constraint-tightening parameter remains challenging, and guarantees can mostly be obtained assuming that the process noise distribution is known a priori. Moreover, the chance constraints are often not tightly satisfied, leading to unnecessarily high costs. This work proposes a data-driven approach for learning the constraint-tightening parameters online during control. To this end, we reformulate the choice of constraint-tightening parameter for the closed-loop as a binary regression problem. We then leverage a highly expressive \gls{gp} model for binary regression to approximate the smallest constraint-tightening parameters that satisfy the chance constraints. By tuning the algorithm parameters appropriately, we show that the resulting constraint-tightening parameters satisfy the chance constraints up to an arbitrarily small margin with high probability. Our approach yields constraint-tightening parameters that tightly satisfy the chance constraints in numerical experiments, resulting in a lower average cost than three other state-of-the-art approaches.