Can deep models help a robot to tune its controller? : A step closer to self-tuning model predictive controllers

• Main Authors: Mehndiratta, Mohit, Camci, Efe, Kayacan, Erdal
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2022
• Subjects: Engineering::Mechanical engineering; Auto-Tuning; Nonlinear Model Predictive Control
• Online Access: https://hdl.handle.net/10356/153968
• Institution: Nanyang Technological University

Motivated by the difficulty roboticists experience while tuning model predictive controllers (MPCs), we present an automated weight set tuning framework in this work. The enticing feature of the proposed methodology is the active exploration approach that adopts the exploration– exploitation concept...