Fusion of Machine Learning and MPC under Uncertainty: What Advances Are on the Horizon?

This paper provides an overview of the recent research efforts on the integration of machine learning and model predictive control under uncertainty. The paper is organized as a collection of four major categories: learning models from system data and prior knowledge; learning control policy parameters from closed-loop performance data; learning efficient approximations of iterative online optimization from policy data; and learning optimal cost-to-go representations from closed-loop performance data. In addition to reviewing the relevant literature, the paper also offers perspectives for future research in each of these areas.