Скачать или смотреть Optimization Using Model Predictive Control Combined with iLQR and Neural Networks

This talk is devoted to combining model predictive control (MPC) and deep learning methods, specifically neural networks, to solve high-dimensional optimization and control problems. MPC is a popular method for real-life process control in various fields, but its computational requirements can often become a bottleneck. In contrast, deep learning algorithms have shown effectiveness in approximating high-dimensional systems and solving reinforcement learning problems. By leveraging the strengths of both MPC and neural networks, we aim to improve the efficiency of solving MPC problems. The talk also discusses the optimal control problem in MPC and how it can be divided into smaller time horizons to reduce computational costs. Additionally, we focus on enhancing MPC through two approaches: a machine learning–based feedback controller and a machine learning–enhanced planner, which involve implementing neural networks and iLQR. Overall, this talk provides insights into the potential of combining MPC and deep learning methods to tackle complex control problems across various fields, with applications to robotics.