Hyuntae Kim, SNU, gives a talk on "Model Reference Gaussian Process Regression: Data-Driven Output Feedback Controller."
Date: December 9, 2022
Time: 10:40 am - 12:10 pm
Room: E9-309 (https://www.kimilab.tokyo/access)
Speaker: Hyuntae Kim, Ph.D. candidate, Control and Dynamic Systems Lab, Seoul National University (https://post.cdsl.kr)
Title: Model Reference Gaussian Process Regression: Data-Driven Output Feedback Controller
Abstract: Data-driven controls using Gaussian process regression have recently gained much attention. In such approaches, system identification by Gaussian process regression is mostly followed by model-based controller designs. However, the outcomes of Gaussian process regression are often too complicated to apply conventional control designs, which makes the numerical design such as model predictive control employed in many cases. To overcome the restriction, our idea is to perform Gaussian process regression to the inverse of the plant with the same input/output data for the conventional regression. With the inverse, one can design a model reference controller without resorting to numerical control methods. In this presentation, we consider single-input single-output (SISO) discrete-time nonlinear systems of minimum phase with relative degree one. It is highlighted that the model reference Gaussian process regression controller is designed directly from pre-collected input/output data without system identification.
Bio: Hyuntae Kim received the B.S. degree in Electrical and Computer Engineering from Seoul National University, Seoul, South Korea, in 2015. He is currently pursuing the Ph.D. degree in control theory at the Seoul National University, Seoul, South Korea. His research interests include data-driven control and disturbance observer.
Thank you for the nice talk, Hyuntae!