Learning Model Predictive Control for iterative tasks. A control framework that exploits data to construct safe sets and terminal cost functions

Abstract

A Learning Model Predictive Controller (LMPC) for iterative tasks is presented. The controller is referencefree and is able to improve its performance by learning from previous iterations. A safe set and a terminal cost function are used in order to guarantee recursive feasibility and nonincreasing performance at each iteration. The paper presents the… (More)

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Cite this paper

@inproceedings{Rosolia2016LearningMP, title={Learning Model Predictive Control for iterative tasks. A control framework that exploits data to construct safe sets and terminal cost functions}, author={Ugo Rosolia and Francesco Borrelli}, year={2016} }