2018 CDC workshop

2018 CDC workshop: Learning for Control

Borrelli's slides [pdf]
Software [GitHub] [Python]
Mujoco example [.xlm]

Relevant papers

U. Rosolia and F. Borrelli: "Learning Model Predictive Control for Iterative Task. A Data-Driven Control Framework", in IEEE Transaction on Automatic Control (2018). [PDF]
U. Rosolia, X. Zhang and F. Borrelli: "Data-Driven Predictive Control for Autonomous Systems", in Annual Review of Control, Robotics, and Autonomous Systems (2018). [PDF]
Monimoy Bujarbaruah, Xiaojing Zhang, H. Eric Tseng, Francesco Borrelli; Adaptive MPC for Autonomous Lane Keeping, 14th International Symposium on Advanced Vehicle Control (AVEC), Beijing, China, July 2018 [PDF]
U. Rosolia, X. Zhang and F. Borrelli: "Simple Policy Evaluation for Data-Rich Iterative Tasks" submitted to 2019 IEEE American Control Conference (ACC) [PDF]
Xiaojing Zhang, Monimoy Bujarbaruah, Francesco Borrelli; Safe and Near-Optimal Policy Learning for Model Predictive Control using Primal-Dual Neural Networks, submitted- IEEE American Control Conference (ACC), 2019 [PDF]
U. Rosolia, X. Zhang and F. Borrelli: "A Stochastic MPC Approach with Application to Iterative Learning Control" to appear in 2018 IEEE Conference on Decision and Control (CDC)
M. Bujarbaruah, X. Zhang, U. Rosolia, and F. Borrelli: “Adaptive MPC for Iterative Tasks" In 2018 IEEE Conference on Decision and Control [PDF]
U. Rosolia and F. Borrelli: "Learning Model Predictive Control for Iterative Tasks: A Computationally Efficient Approach for Linear System", in 2017 IFAC World Congress. [PDF]
Monimoy Bujarbaruah, Xiaojing Zhang, Francesco Borrelli; Adaptive MPC with Chance Constraints for FIR Systems, IEEE American Control Conference (ACC), Milwaukee, WI, June 2018 [PDF]
U. Rosolia, X. Zhang and F. Borrelli: "Robust Learning Model Predictive Control for Uncertain Iterative Tasks: Learning From Experience" in 2017 IEEE Conference on Decision and Control (CDC). [PDF]
M, Brunner, U. Rosolia, J. Gonzales and F. Borrelli: "Repetitive Learning Model Predictive Control: An Autonomous Racing Example" in 2017 IEEE Conference on Decision and Control (CDC). [PDF]