{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/model-predictive-control-with-stage-cost","title":"Model predictive control with stage cost shaping inspired by reinforcement learning","arxiv_id":"1906.02580","date":"2019-06-06","proceeding":null,"authors":["Lukas Beckenbach","Pavel Osinenko","Stefan Streif"],"abstract":"This work presents a suboptimality study of a particular model predictive control with a stage cost shaping based on the ideas of reinforcement learning. The focus of the suboptimality study is to derive quantities relating the infinite-horizon cost function under the said variant of model predictive control to the respective infinite-horizon value function. The basis control scheme involves usual stabilizing constraints comprising of a terminal set and a terminal cost in the form of a local Lyapunov function. The stage cost is adapted using the principles of Q-learning, a particular approach to reinforcement learning. The work is concluded by case studies with two systems for wide ranges of initial conditions.","url_abs":"http://arxiv.org/abs/1906.02580v2","url_pdf":"http://arxiv.org/pdf/1906.02580v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"model-predictive-control-with-stage-cost","repo_url":"https://github.com/aidynamicaction/rcognita","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null},{"paper_slug":"model-predictive-control-with-stage-cost","repo_url":"https://github.com/pavel-osinenko/rcognita","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}