Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Approximate Robust NMPC using Reinforcement Learning   We present a Reinforcement Learning-based Robust Nonlinear Model Predictive
Control (RL-RNMPC) framework for controlling nonlinear systems in the presence
of disturbances and uncertainties. An approximate Robust Nonlinear Model
Predictive Control (RNMPC) of low computational complexity is used in which the
state trajectory uncertainty is modelled via ellipsoids. Reinforcement Learning
is then used in order to handle the ellipsoidal approximation and improve the
closed-loop performance of the scheme by adjusting the MPC parameters
generating the ellipsoids. The approach is tested on a simulated Wheeled Mobile
Robot (WMR) tracking a desired trajectory while avoiding static obstacles.

37
The categories of this paper are: supr-con
0
The categories of this paper are: hep-ph
23
The categories of this paper are: solv-int
20
The categories of this paper are: acc-phys
28
The categories of this paper are: alg-geom
16
The categories of this paper are: stat
31
The categories of this paper are: ao-sci
21
The categories of this paper are: adap-org
12
The categories of this paper are: nucl-th
36
The categories of this paper are: cmp-lg
14
The categories of this paper are: math-ph
35
The categories of this paper are: mtrl-th
27
The categories of this paper are: comp-gas
6
The categories of this paper are: astro-ph
33
The categories of this paper are: plasm-ph
4
The categories of this paper are: cond-mat