ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions

DOI10.1007/978-3-030-66723-8_1zbMath1471.93091arXiv2003.01410OpenAlexW3167874530MaRDI QIDQ3381944

Joseph E. Gonzalez, Ugo Rosolia, Brijen Thananjeyan, Aaron D. Ames, Ken Goldberg, Ashwin Balakrishna

Publication date: 20 September 2021

Published in: Algorithmic Foundations of Robotics XIV (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/2003.01410

zbMATH Keywords

control theorymodel predictive controlimitation learning

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Stochastic systems in control theory (general) (93E03) Model predictive control (93B45)

Uses Software

• OpenAI Gym
• PythonRobotics
• BaRC

Cites Work

• Provably safe and robust learning-based model predictive control
• Motion Planning under Uncertainty for Robotic Tasks with Long Time Horizons
• Stabilizing model predictive control: On the enlargement of the terminal set
• Learning Model Predictive Control for Iterative Tasks. A Data-Driven Control Framework
• Relatively optimal control and its linear implementation
• General interpolation in mpc and its advantages
• Learning-based predictive control for linear systems: a unitary approach