Efficiently Learning Robust, Adaptive Controllers from Robust Tube MPC
The deployment of agile autonomous systems in challenging, unstructured environments requires adaptation capabilities and robustness to uncertainties. Existing robust and adaptive controllers, such as those based on model predictive control (MPC), can achieve impressive performance at the cost of he...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2023
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| Online Access: | https://hdl.handle.net/1721.1/152818 |