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2017 IEEE International Conference on Robotics and Automation (ICRA)

Singapore, May 29 - June 3, 2017 Leveraging Experience for Computationally Efficient Adaptive Nonlinear M Predictive Control Vishnu R. Desaraju and Nathan Michael Abstract— This work presents Experience-driven Predictive reactive techniques that seek to eliminate the effects of

Control (EPC) as a fast technique for solving nonlinear m unm ed dynamics, even when they may be beneficial. In

predictive control (NMPC) problems with uncertain system contrast, m predictive control (MPC) techniques seek to

dynamics. EPC leverages an affine dynamics m that is balance the reactive nature of traditional feedback controllers

updated online via Locally Weighted Projection Regression

(LWPR) to capture nonlinearities, uncertainty, and chan

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