Information-seeking polynomial NARX model-predictive control through expected free energy minimization

Wouter M. Kouw

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arXiv · 2312.15046

Information-seeking polynomial NARX model-predictive control through expected free energy minimization

Wouter M. Kouw

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Abstract

We propose an adaptive model-predictive controller that balances driving the system to a goal state and seeking system observations that are informative with respect to the parameters of a nonlinear autoregressive exogenous model. The controller's objective function is derived from an expected free energy functional and contains information-theoretic terms expressing uncertainty over model parameters and output predictions. Experiments illustrate how parameter uncertainty affects the control objective and evaluate the proposed controller for a pendulum swing-up task.

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BibTeX RIS

Wouter M. Kouw. 2023-12-22. Information-seeking polynomial NARX model-predictive control through expected free energy minimization. https://arxiv.org/abs/2312.15046

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