Information-Theoretic Framework for Self-Adapting Model Predictive Controllers

摘要

Model Predictive Control (MPC) is a vital technique for autonomous systems, like Unmanned Aerial Vehicles (UAVs), enabling optimized motion planning. However, traditional MPC struggles to adapt to real-time changes such as dynamic obstacles and shifting system dynamics, lacking inherent mechanisms for self-monitoring and adaptive optimization. Here, we introduce Entanglement Learning (EL), an information-theoretic framework that enhances MPC adaptability through an Information Digital Twin (IDT). The IDT monitors and quantifies, in bits, the information flow between MPC inputs, control actions, and UAV behavior. By introducing new information-theoretic metrics we call entanglement metrics, it tracks variations in these dependencies. These metrics measure the mutual information between the optimizer's input, its control actions, and the resulting UAV dynamics, enabling a deeper understanding of their interrelationships. This allows the IDT to detect performance deviations and generate real-time adaptive signals to recalibrate MPC parameters, preserving stability. Unlike traditional MPC, which relies on error-based feedback, this dual-feedback approach leverages information flow for proactive adaptation to evolving conditions. Scalable and leveraging existing infrastructure, this framework improves MPC reliability and robustness across diverse scenarios, extending beyond UAV control to any MPC implementation requiring adaptive performance.