Ulrich-Billa/PINN-enhanced-RMPC-for-robotic-arm-6-DOF-under-uncertainties
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Ulr
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In this repo are kept the codes used for my thesis at AIMS cameroon 2025/2026. We improve the Tube based RMPC, an optimal control method by canceled the fix value of the tube and replace it by an adaptative tube radius. The value of the radius is adapted with respect to the estimated value of the disturbances. Which is estimate by using a PINN,