Model Predictive Path Integral PID Control for Learning-Based Path Following

原文アブストラクト

Classical proportional--integral--derivative (PID) control remains widely used in industrial control systems, while model predictive control (MPC) is actively studied to achieve higher performance for systems with nonlinear dynamics. Model predictive path integral (MPPI) control is a sampling-based MPC method that optimizes control inputs without gradient calculations and can handle non-differentiable models and objective functions. However, conventional MPPI directly samples control-input sequences, which can produce large temporal input increments and causes the optimization dimension to grow with the prediction horizon. This study proposes MPPI--PID control, which uses MPPI to optimize PID gains online instead of directly optimizing the control-input sequences. By replacing high-dimensional input-sequence optimization with low-dimensional gain-space optimization while retaining the PID structure, the proposed formulation improves sampling efficiency and promotes smoother control inputs. Theoretical analyses are provided for a unified path-integral update, the relation between optimization dimension and effective sample size, and the temporal correlation of input perturbations induced by the PID structure. The method is evaluated on a learning-based path following of a mini forklift using a residual-learning dynamics model that combines a physical model and a neural network identified from real-machine driving data. Numerical results show that MPPI--PID improves tracking performance over fixed-gain PID, yields smaller input increments than conventional MPPI, and maintains favorable performance under reduced sampling budgets.