Infinite-horizon differentiable Model Predictive Control
This paper proposes a differentiable linear quadratic Model Predictive Control (MPC) framework for safe imitation learning. The infinite-horizon cost is enforced using a terminal cost function obtained from the discrete-time algebraic Riccati equation (DARE), so that the learned controller can be pr...
| Автори: | , , , , |
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| Формат: | Conference item |
| Мова: | English |
| Опубліковано: |
ICLR
2020
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