Information-seeking polynomial NARX model-predictive control through expected free energy minimization
- Resource Type
- Working Paper
- Authors
- Kouw, Wouter M.
- Source
- Subject
- Electrical Engineering and Systems Science - Systems and Control
Computer Science - Machine Learning
Statistics - Machine Learning
- Language
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.
Comment: 6 pages, 3 figures