Approximate Robust NMPC using Reinforcement Learning
원문 초록
We present a Reinforcement Learning-based Robust Nonlinear Model Predictive Control (RL-RNMPC) framework for controlling nonlinear systems in the presence of disturbances and uncertainties. An approximate Robust Nonlinear Model Predictive Control (RNMPC) of low computational complexity is used in which the state trajectory uncertainty is modelled via ellipsoids. Reinforcement Learning is then used in order to handle the ellipsoidal approximation and improve the closed-loop performance of the scheme by adjusting the MPC parameters generating the ellipsoids. The approach is tested on a simulated Wheeled Mobile Robot (WMR) tracking a desired trajectory while avoiding static obstacles.
함께 살펴볼 논문
공통 태그를 근거로 연결했습니다. 실제 인용 관계나 논문의 우수성을 뜻하지 않습니다.
High-Throughput Distributed Reinforcement Learning via Adaptive Policy Synchronization
Exploring the robustness of TractOracle methods in RL-based tractography
Deep Reinforcement Learning with Gradient Eligibility Traces
AutoTriton: Automatic Triton Programming with Reinforcement Learning in LLMs
OctoThinker: Mid-training Incentivizes Reinforcement Learning Scaling
Partially Observable Residual Reinforcement Learning for PV-Inverter-Based Voltage Control in Distribution Grids
토론
이 논문과 연결된 포럼 글이 아직 없습니다.