Automated tuning of nonlinear model predictive controller by reinforcement learning

• Main Authors: Mehndiratta, Mohit, Camci, Efe, Kayacan, Erdal
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2020
• Subjects: Engineering::Mechanical engineering; Tuning; Rotors
• Online Access: https://hdl.handle.net/10356/143042
• Institution: 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...