6 citations · 6 across the 7 of their papers we have counts for
3 papers · 1 filter
Active Learning MPC Objective Functions from Preferences
Hasna El Hasnaouy, Pablo Krupa, Mario Zanon +1
Designing the objective function in Model Predictive Control (MPC) is challenging when performance assessment criteria are available only from human judgment. We adopt a preference…
Learning the MPC objective function from human preferences
Pablo Krupa, Hasna El Hasnaouy, Mario Zanon +1
In Model Predictive Control (MPC), the objective function plays a central role in determining the closed-loop behavior of the system, and must therefore be designed to achieve the…
Learning disturbance models for offset-free reference tracking
Pablo Krupa, Mario Zanon, Alberto Bemporad
This work presents a nonlinear control framework that guarantees asymptotic offset-free tracking of generic reference trajectories by learning a nonlinear disturbance model, which…