Patent ID: 11886196
Assignee: MITSUBISHI ELECTRIC RESEARCH LABORATORIES, INC.
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 14:
15. The controller of claim 1, wherein the controller controls the machine iteratively over a sequence of control cycles, and wherein for execution a control cycle, the controller is configured to:
receive the state of the machine and determine a machine predictor of dynamics of the state of the machine;
receive the acquired knowledge of the environment and determine an environment predictor of dynamics of the environment;
determine interaction constraint of variables allowed to interact, wherein the variables include the state of the machine, the state of the environment, and the control inputs;
receive a machine goal, construct a control objective, construct the cost function for reaching the control objective over the prediction horizon, and determine a terminal constraint at the end of the prediction horizon;
optimize the cost function subject to the interaction constraint in presence of the uncertainty of the state of the environment to produce a sequence of optimization solutions for a sequence of time steps over the prediction horizon; and
submit a first element of the sequence of optimization solutions to one or multiple actuators of the machine and one or multiple actuators of the at least one sensor.