A Tutorial on Gaussian Process Learning-based Model Predictive Control

arXiv:2404.03689v1 Announce Type: cross
Abstract: This tutorial provides a systematic introduction to Gaussian process learning-based model predictive control (GP-MPC), an advanced approach integrating Gaussian process (GP) with model predictive control (MPC) for enhanced control in complex systems. It begins with GP regression fundamentals, illustrating how it enriches MPC with enhanced predictive accuracy and robust handling of uncertainties. A central contribution of this tutorial is the first detailed, systematic mathematical formulation of GP-MPC in literature, focusing on deriving the approximation of …

abstract advanced arxiv complex systems control cs.lg cs.ro cs.sy eess.sy fundamentals introduction mpc predictive process regression systems tutorial type