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Online, Adaptive MPC
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+ + We apply this algorithm to the MPC control of a quadrotor. The quadrotor's mass is varied every episode, and the goal is to reach prespecified coordinates. + Our results demonstrate that our approach makes more accurate long horizon predictions in the presence + of hidden parameters than neural ODEs alone. When measuring the slew rate of the controller, i.e. its efficiency, we observe that this improved prediction + accuracy leads to more efficient control of the quadrotor. +
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+ + Qualitatively, this difference is visible in the trajectories of the respective controllers. Here we are plotting one trajectory from each controller + for the same conditions. We observe that the neural ODE controller alone makes repeated corrections to its trajectory. In contrast, our approach more smoothly + approaches the target coordinates. +
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+ + + + + - - -BibTeX
-BibTex Code Here@misc{functionEncoderNeuralODEs2024,
+ title={Zero-Shot Transfer of Neural ODEs},
+ author={Tyler Ingebrand and Adam J. Thorpe and Ufuk Topcu},
+ year={2024},
+ journal={NeurIPS}.
+ }
+