Task Decomposition for Iterative Learning Model Predictive Control

@article{Vallon2020TaskDF,
  title={Task Decomposition for Iterative Learning Model Predictive Control},
  author={Charlott Vallon and F. Borrelli},
  journal={2020 American Control Conference (ACC)},
  year={2020},
  pages={2024-2029}
}
A task decomposition method for iterative learning model predictive control is presented. We consider a constrained nonlinear dynamical system and assume the availability of state-input pair datasets which solve a task $\mathcal{T}1$. Our objective is to find a feasible model predictive control policy for a second task, $\mathcal{T}2$, using stored data from $\mathcal{T}1$. Our approach applies to tasks $\mathcal{T}2$ which are composed of subtasks contained in $\mathcal{T}1$. In this paper we… Expand
1 Citations
Data-Driven Hierarchical Predictive Learning in Unknown Environments
  • Charlott Vallon, F. Borrelli
  • Computer Science, Engineering
  • 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)
  • 2020
  • 2
  • PDF

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