Online learning of data-driven controllers for unknown switched linear systems
Monica Rotulo, Claudio De Persis, Pietro Tesi
Abstract
Motivated by the goal of learning controllers for complex systems whose dynamics change over time, we consider the problem of designing control laws for systems that switch among a finite set of unknown discrete-time linear subsystems under unknown switching signals. To this end, we propose a method that uses data to directly design a control mechanism without any explicit identification step. Our approach is online, meaning that the data are collected over time while the system is evolving in closed-loop, and are directly used to iteratively update the controller. A major benefit of the proposed online implementation is therefore the ability of the controller to automatically adjust to changes in the operating mode of the system. We show that the proposed control mechanism guarantees stability of the closed-loop switched linear system provided that the switching is slow enough. Effectiveness of the proposed design technique is illustrated for two aerospace applications.