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.

翻译：我们提出了一种自适应模型预测控制器，该控制器平衡了将系统驱动至目标状态与获取对非线性自回归外生模型参数具有信息量的系统观测值。控制器的目标函数源自期望自由能泛函，其中包含表达模型参数和输出预测不确定性的信息论项。实验展示了参数不确定性如何影响控制目标，并针对摆锤摆动任务评估了所提出的控制器性能。