Samenvatting
Given a partially observable Markov decision process (POMDP) with finite state, input and measurement spaces, and costly measurements and control, we consider the problem of when to sample and actuate. Both sampling and actuation are modeled as control actions in a framework encompassing estimation and intervention problems. The process evolves freely between two consecutive control action times. Control actions are assumed to reset the conditional distribution of the state given the measurements to one of a finite number of distributions. We tackle the problem of deciding when control actions should occur in order to minimize an average cost that penalizes states and the rate of control actions. The problem is first shown to boil down to a stopping time problem. While the latter can be solved optimally, the complexity of the optimal policy is intractable. Thus, we propose two approximate methods. The first is inspired by relaxed dynamic programming, and it is within an additive cost factor of the optimal policy. The second is inspired by consistent event-triggered control and ensures that the cost is smaller than that of periodic control for the same control rate. We conclude that the latter policy can deal with large dimensional problems, as demonstrated in the context of precision agriculture.
Originele taal-2 | Engels |
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Titel | 2022 IEEE 61st Conference on Decision and Control, CDC 2022 |
Uitgeverij | Institute of Electrical and Electronics Engineers |
Pagina's | 2399-2404 |
Aantal pagina's | 6 |
ISBN van elektronische versie | 978-1-6654-6761-2 |
DOI's | |
Status | Gepubliceerd - 10 jan. 2023 |
Evenement | 2022 IEEE 61st Conference on Decision and Control (CDC) - The Marriott Cancún Collection, Cancun, Mexico Duur: 6 dec. 2022 → 9 dec. 2022 Congresnummer: 61 https://cdc2022.ieeecss.org/ |
Congres
Congres | 2022 IEEE 61st Conference on Decision and Control (CDC) |
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Verkorte titel | CDC 2022 |
Land/Regio | Mexico |
Stad | Cancun |
Periode | 6/12/22 → 9/12/22 |
Internet adres |
Bibliografische nota
Funding Information:The authors are with the Control Systems Technology Group, Department of Mechanical Engineering, Eindhoven University of Technology, the Netherlands. E-mails:{d.antunes, r.m.beumer, w.p.m.h.heemels, m.j.g.v.d.molengraft}@tue.nl. This research is part of the research program SYNERGIA (project number 17626), which is partly financed by the Dutch Research Council (NWO).
Financiering
The authors are with the Control Systems Technology Group, Department of Mechanical Engineering, Eindhoven University of Technology, the Netherlands. E-mails:{d.antunes, r.m.beumer, w.p.m.h.heemels, m.j.g.v.d.molengraft}@tue.nl. This research is part of the research program SYNERGIA (project number 17626), which is partly financed by the Dutch Research Council (NWO).