{"id":"https://openalex.org/W4214851269","doi":"https://doi.org/10.1109/tie.2022.3153800","title":"Recurrent Model Predictive Control: Learning an Explicit Recurrent Controller for Nonlinear Systems","display_name":"Recurrent Model Predictive Control: Learning an Explicit Recurrent Controller for Nonlinear Systems","publication_year":2022,"publication_date":"2022-03-01","ids":{"openalex":"https://openalex.org/W4214851269","doi":"https://doi.org/10.1109/tie.2022.3153800"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2022.3153800","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3153800","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2102.10289","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100615471","display_name":"Zhengyu Liu","orcid":"https://orcid.org/0000-0001-9643-8565"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhengyu Liu","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067909017","display_name":"Jingliang Duan","orcid":"https://orcid.org/0000-0002-3697-1576"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingliang Duan","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100755185","display_name":"Wenxuan Wang","orcid":"https://orcid.org/0000-0002-7700-3694"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenxuan Wang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100747108","display_name":"Shengbo Eben Li","orcid":"https://orcid.org/0000-0003-4923-3633"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengbo Eben Li","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4923-3633","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021699314","display_name":"Yuming Yin","orcid":"https://orcid.org/0000-0002-2854-921X"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuming Yin","raw_affiliation_strings":["School of Mechanical Engineering, Zhejiang University of Technology, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang University of Technology, Zhejiang, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037283185","display_name":"Ziyu Lin","orcid":"https://orcid.org/0000-0003-0532-0030"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziyu Lin","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0532-0030","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100640936","display_name":"Bo Cheng","orcid":"https://orcid.org/0000-0002-1753-2922"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Cheng","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100615471"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":1.456,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.80305267,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"69","issue":"10","first_page":"10437","last_page":"10446"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9914000034332275,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10409","display_name":"Fuel Cells and Related Materials","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.8734614849090576},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7044631838798523},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.6417043805122375},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5532827973365784},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5498983860015869},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5460451245307922},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.5234707593917847},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49191951751708984},{"id":"https://openalex.org/keywords/recurrent-neural-network","display_name":"Recurrent neural network","score":0.4760874807834625},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3189927339553833},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.2855643033981323},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2830924391746521},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15766102075576782}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8734614849090576},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7044631838798523},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.6417043805122375},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5532827973365784},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5498983860015869},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5460451245307922},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5234707593917847},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49191951751708984},{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.4760874807834625},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3189927339553833},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.2855643033981323},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2830924391746521},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15766102075576782},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tie.2022.3153800","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3153800","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2102.10289","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2102.10289","pdf_url":"https://arxiv.org/pdf/2102.10289","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2102.10289","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2102.10289","pdf_url":"https://arxiv.org/pdf/2102.10289","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8491981559","display_name":null,"funder_award_id":"KFY2212","funder_id":"https://openalex.org/F4320326925","funder_display_name":"State Key Laboratory of Automotive Safety and Energy"}],"funders":[{"id":"https://openalex.org/F4320326925","display_name":"State Key Laboratory of Automotive Safety and Energy","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W32453388","https://openalex.org/W179875071","https://openalex.org/W1592601589","https://openalex.org/W1993170675","https://openalex.org/W2020574634","https://openalex.org/W2024450772","https://openalex.org/W2027701333","https://openalex.org/W2034797247","https://openalex.org/W2048274846","https://openalex.org/W2068820478","https://openalex.org/W2073265799","https://openalex.org/W2079391994","https://openalex.org/W2082248361","https://openalex.org/W2087884651","https://openalex.org/W2100267011","https://openalex.org/W2115314075","https://openalex.org/W2116773335","https://openalex.org/W2123871098","https://openalex.org/W2134673975","https://openalex.org/W2144707090","https://openalex.org/W2151032674","https://openalex.org/W2161893575","https://openalex.org/W2170213261","https://openalex.org/W2341848647","https://openalex.org/W2605564896","https://openalex.org/W2740355521","https://openalex.org/W2842089854","https://openalex.org/W2942885924","https://openalex.org/W3044225827","https://openalex.org/W3209549283","https://openalex.org/W6601322911","https://openalex.org/W6755938841","https://openalex.org/W6756001544","https://openalex.org/W6756091659"],"related_works":["https://openalex.org/W4298287631","https://openalex.org/W2953061907","https://openalex.org/W1847088711","https://openalex.org/W4225394202","https://openalex.org/W3036642985","https://openalex.org/W1990079087","https://openalex.org/W2964335273","https://openalex.org/W2982145560","https://openalex.org/W2969450769","https://openalex.org/W2326447594"],"abstract_inverted_index":{"This":[0],"article":[1],"proposes":[2],"an":[3,25],"offline":[4],"control":[5,18,32,77],"algorithm,":[6],"called":[7],"recurrent":[8,59,91,127],"model":[9,30,40],"predictive":[10,31],"control,":[11],"to":[12,44,50,61,75,94,119,156],"solve":[13],"large-scale":[14],"nonlinear":[15,144],"finite-horizon":[16],"optimal":[17,64,97,126],"problems.":[19],"It":[20],"can":[21,36,129],"be":[22,130],"regarded":[23],"as":[24,49],"explicit":[26],"solver":[27],"of":[28,81,99,123,160],"traditional":[29],"(MPC)":[33],"algorithms,":[34],"which":[35,66,139],"adaptively":[37],"select":[38],"appropriate":[39],"prediction":[41],"horizon":[42],"according":[43,118],"current":[45],"computing":[46],"resources,":[47],"so":[48],"improve":[51],"the":[52,63,68,76,82,95,114,120,135,158,161],"policy":[53,84,107,128],"performance.":[54],"Our":[55],"algorithm":[56],"employs":[57],"a":[58],"function":[60,117],"approximate":[62],"policy,":[65],"maps":[67],"system":[69],"states":[70],"and":[71,145,150],"reference":[72],"values":[73],"directly":[74,133],"inputs.":[78],"The":[79,125],"output":[80],"learned":[83],"network":[85],"after":[86],"<inline-formula":[87,100],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[88,101],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[89,102],"notation=\"LaTeX\">$N$</tex-math></inline-formula>":[90,103],"cycles":[92],"corresponds":[93],"nearly":[96],"solution":[98],"-step":[104],"MPC.":[105],"A":[106],"optimization":[108],"objective":[109,137],"is":[110,140],"designed":[111,136],"by":[112,132],"decomposing":[113],"MPC":[115],"cost":[116],"Bellman\u2019s":[121],"principle":[122],"optimality.":[124],"obtained":[131],"minimizing":[134],"function,":[138],"applicable":[141],"for":[142],"general":[143],"noninput-affine":[146],"systems.":[147],"Both":[148],"simulation-based":[149],"real-robot":[151],"path-tracking":[152],"tasks":[153],"are":[154],"utilized":[155],"demonstrate":[157],"effectiveness":[159],"proposed":[162],"method.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-09T13:55:54.758798","created_date":"2022-03-05T00:00:00"}