Preprint
Aug 2026
Hybrid Feedback Sampling for Sample-Efficient Model Predictive Control
This paper investigates the instability of shooting methods in sampling-based MPC and shows that the optimal sampling proposal distribution can be realized by sampling with an optimized feedback policy, and develops a hybrid sampling design which balances local and global search based on the system stability and the av...
Chao-Yi Pan, Ze-Ji Yi, John Z. Zhang et al.
· 1 citation