Automated tuning of nonlinear model predictive controller by reinforcement learning

• Main Authors: Mehndiratta, Mohit, Camci, Efe, Kayacan, Erdal
• 其他作者: School of Mechanical and Aerospace Engineering
• 格式: Conference or Workshop Item
• 語言: English
• 出版: 2020
• 主題: Engineering::Mechanical engineering; Tuning; Rotors
• 在線閱讀: https://hdl.handle.net/10356/143042

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...