Learning-based model predictive control on a quadrotor: Onboard implementation and experimental results

@article{Bouffard2012LearningbasedMP,
  title={Learning-based model predictive control on a quadrotor: Onboard implementation and experimental results},
  author={Patrick Bouffard and Anil Aswani and Claire J. Tomlin},
  journal={2012 IEEE International Conference on Robotics and Automation},
  year={2012},
  pages={279-284}
}
In this paper, we present details of the real time implementation onboard a quadrotor helicopter of learning-based model predictive control (LBMPC). LBMPC rigorously combines statistical learning with control engineering, while providing levels of guarantees about safety, robustness, and convergence. Experimental results show that LBMPC can learn physically based updates to an initial model, and how as a result LBMPC improves transient response performance. We demonstrate robustness to mis… CONTINUE READING
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