Finite-sample MPPI inherits the contraction-based stability of a nominal nonlinear MPC policy under an explicit small-gain condition on the approximation error, yielding finite-horizon high-probability localized mean practical stability.
Adaptive noise covariance for MPPI: Online estimation with stability guarantees,
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
fields
eess.SY 1years
2026 1verdicts
CONDITIONAL 1representative citing papers
citing papers explorer
-
Stochastic Stability of Nonlinear MPPI via Contraction Theory and Control Lyapunov Functions
Finite-sample MPPI inherits the contraction-based stability of a nominal nonlinear MPC policy under an explicit small-gain condition on the approximation error, yielding finite-horizon high-probability localized mean practical stability.