References & Citations
Electrical Engineering and Systems Science > Systems and Control
Title: Safety-Aware Cascade Controller Tuning Using Constrained Bayesian Optimization
(Submitted on 28 Oct 2020 (v1), last revised 11 Aug 2021 (this version, v2))
Abstract: This paper presents an automated, model-free, data-driven method for the safe tuning of PID cascade controller gains based on Bayesian optimization. The optimization objective is composed of data-driven performance metrics and modeled using Gaussian processes. We further introduce a data-driven constraint that captures the stability requirements from system data. Numerical evaluation shows that the proposed approach outperforms relay feedback autotuning and quickly converges to the global optimum, thanks to a tailored stopping criterion. We demonstrate the performance of the method in simulations and experiments. For experimental implementation, in addition to the introduced safety constraint, we integrate a method for automatic detection of the critical gains and extend the optimization objective with a penalty depending on the proximity of the current candidate points to the critical gains. The resulting automated tuning method optimizes system performance while ensuring stability and standardization
Submission history
From: Alisa Rupenyan [view email][v1] Wed, 28 Oct 2020 20:23:04 GMT (2858kb,D)
[v2] Wed, 11 Aug 2021 13:02:09 GMT (3765kb,D)
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