RAMP-Net: A Robust Adaptive MPC for Quadrotors via Physics-informed Neural Network
Sourav Sanyal,Kaushik Roy,Sourav Sanyal,Kaushik Roy
Model Predictive Control (MPC) is a state-of-the-art (SOTA) control technique which requires solving hard constrained optimization problems iteratively. For uncertain dynamics, analytical model based robust MPC imposes additional constraints, increasing the hardness of the problem. The problem exacerbates in performance-critical applications, when more compute is required in lesser time. Data-driv...
