On the Use of Supervised Clustering in Stochastic NMPC Design

  title={On the Use of Supervised Clustering in Stochastic NMPC Design},
  author={M. Alamir},
  journal={IEEE Transactions on Automatic Control},
  • M. Alamir
  • Published 2020
  • Computer Science
  • IEEE Transactions on Automatic Control
In this article, a supervised clustering-based heuristic is proposed for the real-time implementation of approximate solutions to stochastic nonlinear model predictive control frameworks. The key idea is to update online a low cardinality set of uncertainty vectors to be used in the expression of the stochastic cost and constraints. These vectors are the centers of uncertainty clusters that are built using the optimal control sequences, cost, and constraints indicators as supervision labels… Expand
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