The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 22, 2024
Filed:
May. 27, 2022
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Abraham P. Vinod, Cambridge, MA (US);
Giorgos Mamakoukas, Chicago, IL (US);
Stefano Di Cairano, Newton, MA (US);
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Abstract
To control a motion of a device subject to constraints, a sequence of states and corresponding control inputs are transformed into a lifted space to determine a linear model of the dynamics of the device in the lifted space by minimizing fitting errors between the lifted states and approximation of the lifted states according to the linear control law. The fitting errors define an error model as a function bounding a data-driven envelope of a Lipschitz continuity on the fitting errors allowing to solve an optimal control problem in the lifted space according to the linear model subject to the constraints reformulated based on an evolution of the error model. The control input in the lifted space is transformed back to the original space for control.