@misc {
    orvium-64664617311fc849d76663c1,
    title = "Towards Black-Box Dynamics Modelling within Learning-based Nonlinear Model Predictive Control for Virtual Motorcycles",
    abstract = "Learning-based Nonlinear Model Predictive Control (LbNMPC) is a promising framework for applying NMPC using dynamics models obtained directly from riding data. We developed a LbNMPC controller based on a black-box dynamics model and compare it with a previously published NMPC controller based on a physics-based description. The controllers have been tested in a high-fidelity simulation framework, and the LbNMPC outperforms the nominal one in terms of tracking indexes, while requiring twice the solution time.",
    keywords = "Learning-based Nonlinear Model Predictive Control, Virtual Rider, GP based MPC, learning dynamics, data driven MPC",
    author = "Francesco Bianchin and Enrico Picotti and Mattia Bruschetta",
    year = "2023",
    doi = "10.59490/64664617311fc849d76663c1",
    language = "English",
    url = "https://dapp.orvium.io/deposits/64664617311fc849d76663c1/view",
}