Method and system for devising an optimum control policy

US10884397B2 · kind B2 · utility

Assignees

• Robert Bosch GmbH · DE
• Max-Planck-Gesellschaft zur Föderung der Wissenschaften e.V. · US

Inventors

• Andreas Doerr · Stuttgart, DE
• Sebastian Trimpe · Tübingen, DE
• Duy Nguyen-Tuong · Calw, DE

Key dates

• Filing date: Apr 3, 2018
• Grant date: Jan 5, 2021
• Expiry date: Apr 3, 2038

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/42018
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A method for devising an optimum control policy of a controller for controlling a system includes optimizing at least one parameter that characterizes the control policy. A Gaussian process model is used to model expected dynamics of the system. The optimization optimizes a cost function which depends on the control policy and the Gaussian process model with respect to the at least one parameter. The optimization is carried out by evaluating at least one gradient of the cost function with respect to the at least one parameter. For an evaluation of the cost function a temporal evolution of a state of the system is computed using the control policy and the Gaussian process model. The cost function depends on an evaluation of an expectation value of a cost function under a probability density of an augmented state at time steps.