Offline Computation of the Explicit Robust Model Predictive Control Law Based on Deep Neural Networks

Abstract

A significant challenge in robust model predictive control (MPC) is the online computational complexity. This paper proposes a learning-based approach to accelerate online calculations by combining recent advances in deep learning with robust MPC. The use of soft constraint variables addresses feasibility issues in the robust MPC design, while the employment of a symmetrical structure deep neural network (DNN) approximates the robust MPC control law. The symmetry of the network structure facilitates the training process. The use of soft constraints expands the feasible region and also increases the complexity of the training data, making the network difficult to train. To overcome this issue, a dataset construction method is employed. The performance of the proposed method is demonstrated through simulated examples, and the proposed algorithm can be applied to control systems in various fields such as aerospace, three-dimensional printing, optical imaging, and chemical production.