Year: 2025
Type: preprint
Abstract: This paper introduces Smart Predict Then Control (SPC), a control aware refinement procedure for model based control. SPC refines a prediction oriented model by optimizing a surrogate objective that evaluates candidate models through the control actions they induce. For a fixed surrogate variant under unconstrained control, we establish the smoothness of the surrogate, projected gradient convergence at a sublinear rate of order one over K, and a bias decomposition that yields a conditional transfer diagnostic. On a wind disturbed quadrotor trajectory tracking task, Updated SPC reduces tracking RMSE by 70 percent and closed loop cost by 42 percent relative to the nominal baseline.
Source: arXiv (Cornell University)
Authors: Li, Jiachen, Li, Shihao, Chen, Dongmei
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W4415068411
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