Propose a learning-based MPFC control paradigm for nonlinear systems under uncertain disturbances, coupling a high-level model predictive path following controller for proactivity with a low-level learning-based feedback linearization controller for adaptivity. Following that, nonlinear systems can rapidly rejoin their reference trajectory after sudden wind disturbances with stability guarantees!
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April 2021: New journal article of the IEEE Robotics and Automation Letters.
Learning-Based Predictive Path Following Control for Nonlinear Systems Under Uncertain Disturbances