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Output-Lifted Learning Model Predictive Control

Nair, Siddharth H. and Rosolia, Ugo and Borrelli, Francesco (2021) Output-Lifted Learning Model Predictive Control. IFAC-PapersOnLine, 54 (6). pp. 365-370. ISSN 2405-8963. doi:10.1016/j.ifacol.2021.08.571.

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We propose a computationally efficient Learning Model Predictive Control (LMPC) scheme for constrained optimal control of a class of nonlinear systems where the state and input can be reconstructed using lifted outputs. For the considered class of systems, we show how to use historical trajectory data collected during iterative tasks to construct a convex value function approximation along with a convex safe set in a lifted space of virtual outputs. These constructions are iteratively updated with historical data and used to synthesize predictive control policies. We show that the proposed strategy guarantees recursive constraint satisfaction, asymptotic stability, and non-decreasing closed-loop performance at each policy update. Finally, simulation results demonstrate the effectiveness of the proposed strategy on the kinematic unicycle.

Item Type:Article
Related URLs:
URLURL TypeDescription Paper
Rosolia, Ugo0000-0002-1682-0551
Borrelli, Francesco0000-0001-8919-6430
Alternate Title:Output-Lifted Learning Model Predictive Control for Flat Systems
Additional Information:© 2021 The Authors. This is an open access article under the CC BY-NC-ND license. Peer review under responsibility of International Federation of Automatic Control. Available online 9 September 2021. This work has been sponsored by the Office of Naval Research.
Funding AgencyGrant Number
Office of Naval Research (ONR)UNSPECIFIED
Subject Keywords:Learning; Predictive Control; Stability; Recursive Feasibility
Issue or Number:6
Record Number:CaltechAUTHORS:20210716-225828441
Persistent URL:
Official Citation:Siddharth H. Nair, Ugo Rosolia, Francesco Borrelli, Output-Lifted Learning Model Predictive Control, IFAC-PapersOnLine, Volume 54, Issue 6, 2021, Pages 365-370, ISSN 2405-8963, (
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:109898
Deposited By: George Porter
Deposited On:16 Jul 2021 23:18
Last Modified:16 Nov 2021 19:38

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