Automated tuning of nonlinear model predictive controller by reinforcement learning

• المؤلفون الرئيسيون: Mehndiratta, Mohit, Camci, Efe, Kayacan, Erdal
• مؤلفون آخرون: School of Mechanical and Aerospace Engineering
• التنسيق: Conference or Workshop Item
• اللغة: English
• منشور في: 2020
• الموضوعات: Engineering::Mechanical engineering; Tuning; Rotors
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/143042
• المؤسسة: Nanyang Technological University

One of the major challenges of model predictive control (MPC) for robotic applications is the non-trivial weight tuning process while crafting the objective function. This process is often executed using the trial-and-error method by the user. Consequently, the optimality of the weights and the time...