Recurrent Model Predictive Control

no code implementations • 23 Feb 2021 • Zhengyu Liu, Jingliang Duan, Wenxuan Wang, Shengbo Eben Li, Yuming Yin, Ziyu Lin, Qi Sun, Bo Cheng

This paper proposes an off-line algorithm, called Recurrent Model Predictive Control (RMPC), to solve general nonlinear finite-horizon optimal control problems.

Recurrent Model Predictive Control: Learning an Explicit Recurrent Controller for Nonlinear Systems

no code implementations • 20 Feb 2021 • Zhengyu Liu, Jingliang Duan, Wenxuan Wang, Shengbo Eben Li, Yuming Yin, Ziyu Lin, Bo Cheng

This paper proposes an offline control algorithm, called Recurrent Model Predictive Control (RMPC), to solve large-scale nonlinear finite-horizon optimal control problems.

Adaptive dynamic programming for nonaffine nonlinear optimal control problem with state constraints

no code implementations • 26 Nov 2019 • Jingliang Duan, Zhengyu Liu, Shengbo Eben Li, Qi Sun, Zhenzhong Jia, Bo Cheng

CADP linearizes the constrained optimization problem locally into a quadratically constrained linear programming problem, and then obtains the optimal update of the policy network by solving its dual problem.

Generalized Policy Iteration for Optimal Control in Continuous Time

no code implementations • 11 Sep 2019 • Jingliang Duan, Shengbo Eben Li, Zhengyu Liu, Monimoy Bujarbaruah, Bo Cheng

This paper proposes the Deep Generalized Policy Iteration (DGPI) algorithm to find the infinite horizon optimal control policy for general nonlinear continuous-time systems with known dynamics.