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Safety-Aware Cascade Controller Tuning Using Constrained Bayesian Optimization
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DOI：10.1109/TIE.2022.3158007.png)
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Abstract
En 中文
This article 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. The safety requirement is imposed via a barrier-like term in the objective, which is introduced to account for operational changes in the system. 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 through 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.
Keywords:
Tuning
Optimization
Safety
Measurement
Bayes methods
Costs
Numerical stability
Autotuning
Bayesian optimization (BO)
cascade control
Gaussian process (GP)
PID tuning
Journal
IF:
7.2
Papers:
1.8W
Citations:
9.8W