US 12,353,176 B2
System and method for controlling an operation of a device
Marcel Menner, Arlington, MA (US); Stefano Di Cairano, Newton, MA (US); Karl Berntorp, Newton, MA (US); and Ankush Chakrabarty, Bedford, MA (US)
Assigned to Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US)
Filed by Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US)
Filed on Aug. 12, 2022, as Appl. No. 17/819,557.
Prior Publication US 2024/0069508 A1, Feb. 29, 2024
Int. Cl. G05B 13/04 (2006.01); G05B 6/02 (2006.01)
CPC G05B 13/048 (2013.01) [G05B 6/02 (2013.01); G05B 13/041 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A feedback controller for controlling an operation of a device at different control steps based on a feedback signal including measurements indicative of a state of the device at the different control steps, the feedback controller comprising: at least one processor; and memory having instructions stored thereon that, when executed by the at least one processor, causes the feedback controller, for a control step of the different control steps, to:
collect a measurement indicative of the state of the device at the control step;
execute, recursively until a termination condition is met, a probabilistic solver parameterized on a control input to an actuator operating the device to produce the control input for the control step, wherein, during each of the executions, the probabilistic solver is configured to
estimate a probabilistic distribution function (PDF) of predicted values of the control input from a PDF of values of the control input using a prediction model;
evaluate a cost function of an optimal control problem for controlling the device based on a simulation of the operation of the device with the measurement and a value of the control input sampled from the PDF of the predicted values of the control input to produce a performance metric of the operation of the device; and
estimate a PDF of simulated values connected to the control input based on a measurement model connecting the performance metric of the operation of the device with the control input; and
correct the PDF of the predicted values of the control input based on the PDF of the simulated values connected to the control input to produce the PDF of the values of the control input; and
control the actuator operating the device using at least a mean of the PDF of the values of the control input.