US 12,422,824 B2
System and method for controlling an operation of a machine including at least one actuator
Mouhacine Benosman, Cambridge, MA (US); and Siqi Zhang, Urbana, IL (US)
Assigned to Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US)
Filed by Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US)
Filed on Feb. 9, 2023, as Appl. No. 18/107,579.
Prior Publication US 2024/0272615 A1, Aug. 15, 2024
Int. Cl. G05B 19/4155 (2006.01); G05B 13/02 (2006.01)
CPC G05B 19/4155 (2013.01) [G05B 13/0235 (2013.01); G05B 2219/31372 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A controller for controlling an operation of a machine including at least one actuator, the controller comprising: a processor; and a memory having instructions stored thereon that, when executed by the processor, cause the controller to:
obtain a time period of an operation of the at least one actuator;
collect an energy level of the at least one actuator, wherein the energy level of the at least one actuator corresponds to a difference between a current state of the at least one actuator and a desired state of the at least one actuator;
determine values of one or more hyperparameters of a time bound function such that a value of the time bound function is greater than or equal to the time period of the operation of the at least one actuator;
solve an optimal control problem optimizing a cost function of the operation of the at least one actuator using an adaptive gradient descent method, wherein the adaptive gradient descent method is initialized with the collected energy level and a constant defined based on the values of one or more hyperparameters, and wherein the adaptive gradient descent method includes a varying step size selected based on a derivative of an energy function of the optimal control problem defined such that the derivative of the energy function of the optimal control problem is negative definite and polynomially decreasing; and
control the at least one actuator based on the solution of the optimal control problem.