• Corpus ID: 231986362

Recurrent Model Predictive Control

@article{Liu2021RecurrentMP,
  title={Recurrent Model Predictive Control},
  author={Zhengyu Liu and Jingliang Duan and Wenxuan Wang and Shengbo Eben Li and Yuming Yin and Ziyu Lin and Qi Sun and Bo Cheng},
  journal={ArXiv},
  year={2021},
  volume={abs/2102.11736}
}
This paper proposes an offline control algorithm, called Recurrent Model Predictive Control (RMPC), in order to solve large-scale nonlinear finite-horizon optimal control problems. As an enhancement of traditional Model Predictive Control (MPC) algorithms, it can adaptively select appropriate model prediction horizon according to current computing resources, so as to improve the policy performance. Our algorithm employs a recurrent function to approximate the optimal policy, which maps the… 

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