BriefGPT.xyz
Sep, 2023
多阶段模型预测安全滤波器:通过增加预测时间窗口减少抖动
Multi-Step Model Predictive Safety Filters: Reducing Chattering by Increasing the Prediction Horizon
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Federico Pizarro Bejarano, Lukas Brunke, Angela P. Schoellig
TL;DR
通过在长期视野内考虑输入修正方法,缓解震荡问题,提供学习控制器的安全保障,并且在四旋翼实验中证明了其有效性。
Abstract
learning-based controllers
have demonstrated superior performance compared to classical controllers in various tasks. However, providing
safety guarantees
is not trivial. Safety, the satisfaction of state and inp
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