Abstract:Motivated by the difficulty roboticists experience while tuning model predictive controllers (MPCs), we present an automated weight set tuning framework in this work. The enticing feature of the proposed methodology is the active exploration approach that adopts the exploration–exploitation concept at its core. Essentially, it extends the trial-and-error method by benefiting from the retrospective knowledge gained in previous trials, thereby resulting in a faster tuning procedure. Moreover, the tuning framewor… Show more
“…Similarly, when integrating constraint terms into the cost function in Chapter 5, the RBF weights, µ and δ, must be carefully adjusted to achieve the desired MPC policy. The relevant literature addresses this issue extensively [165],…”
Section: Limitations and Future Directionsmentioning
“…Similarly, when integrating constraint terms into the cost function in Chapter 5, the RBF weights, µ and δ, must be carefully adjusted to achieve the desired MPC policy. The relevant literature addresses this issue extensively [165],…”
Section: Limitations and Future Directionsmentioning
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.