Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
Generalizable and Fast Surrogates: Model Predictive Control of Articulated Soft Robots using Physics-Informed Neural Networks
Soft robots can revolutionize several applications with high demands on dexterity and safety. When operating these systems, real-time estimation and control require fast and accurate models. However, prediction with firs…
Model Predictive ControlPhysics-informed machine learningReachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC
This paper presents a novel contingency planning framework that integrates learning-based multi-modal predictions of traffic participants into Branch Model Predictive Control (MPC). Leveraging reachability analysis, we a…
Model Predictive ControlRobust contraction-based model predictive control for nonlinear systems
Model Predictive Control (MPC) is a widely known control method that has proved to be particularly effective in multivariable and constrained control. Closed-loop stability and recursive feasibility can be guaranteed by …
Model Predictive ControlGaussian processes for dynamics learning in model predictive control
Due to its state-of-the-art estimation performance complemented by rigorous and non-conservative uncertainty bounds, Gaussian process regression is a popular tool for enhancing dynamical system models and coping with the…
Gaussian ProcessesModel Predictive ControlregressionUncertainty QuantificationSynthesis of Model Predictive Control and Reinforcement Learning: Survey and Classification
The fields of MPC and RL consider two successful control techniques for Markov decision processes. Both approaches are derived from similar fundamental principles, and both are widely used in practical applications, incl…
Autonomous DrivingModel Predictive ControlEnd-to-End Imitation Learning for Optimal Asteroid Proximity Operations
Controlling spacecraft near asteroids in deep space comes with many challenges. The delays involved necessitate heavy usage of limited onboard computation resources while fuel efficiency remains a priority to support the…
Computational EfficiencyImitation LearningModel Predictive ControlNonlinear receding-horizon differential game for drone racing along a three-dimensional path
Drone racing involves high-speed navigation of three-dimensional paths, posing a substantial challenge in control engineering. This study presents a game-theoretic control framework, the nonlinear receding-horizon differ…
Model Predictive ControlTrajectory World Models for Heterogeneous Environments
Heterogeneity in sensors and actuators across environments poses a significant challenge to building large-scale pre-trained world models on top of this low-dimensional sensor information. In this work, we explore pre-tr…
DiversityModel Predictive ControlOff-policy evaluationModel-Free Predictive Control: Introductory Algebraic Calculations, and a Comparison with HEOL and ANNs
Model predictive control (MPC) is a popular control engineering practice, but requires a sound knowledge of the model. Model-free predictive control (MFPC), a burning issue today, also related to reinforcement learning (…
Model Predictive ControlReinforcement Learning (RL)Fully Distributed and Quantized Algorithm for MPC-based Autonomous Vehicle Platooning Optimization
Intelligent transportation systems have recently emerged to address the growing interest for safer, more efficient, and sustainable transportation solutions. In this direction, this paper presents distributed algorithms …
Model Predictive ControlQuantizationCoalitional Control: Cooperative game theory and control
The evolution of information and communication technologies has yielded the means of sharing measurements and other information in an efficient and flexible way, which has enabled the size and complexity of control appli…
Model Predictive ControlCoalitional model predictive control of an irrigation canal
We present a hierarchical control scheme for large-scale systems whose components can exchange information through a data network. The main goal of the supervisory layer is to find the best compromise between control per…
Model Predictive ControlEconomic Nonlinear Model Predictive Control of Prosumer District Heating Networks: The Extended Version
In this paper, we propose an economic nonlinear model predictive control (MPC) algorithm for district heating networks (DHNs). The proposed method features prosumers, multiple producers, and storage systems, which are es…
energy managementModel Predictive ControlIncreasing Information for Model Predictive Control with Semi-Markov Decision Processes
Recent works in Learning-Based Model Predictive Control of dynamical systems show impressive sample complexity performances using criteria from Information Theory to accelerate the learning procedure. However, the sequen…
Model Predictive ControlEvent-Based Adaptive Koopman Framework for Optic Flow-Guided Landing on Moving Platforms
This paper presents an optic flow-guided approach for achieving soft landings by resource-constrained unmanned aerial vehicles (UAVs) on dynamic platforms. An offline data-driven linear model based on Koopman operator th…
Model Predictive ControlAsynchronous distributed collision avoidance with intention consensus for inland autonomous ships
This paper focuses on the problem of collaborative collision avoidance for autonomous inland ships. Two solutions are provided to solve the problem in a distributed manner. We first present a distributed model predictive…
Collision AvoidanceModel Predictive ControlMPC4RL -- A Software Package for Reinforcement Learning based on Model Predictive Control
In this paper, we present an early software integrating Reinforcement Learning (RL) with Model Predictive Control (MPC). Our aim is to make recent theoretical contributions from the literature more accessible to both the…
Model Predictive ControlReinforcement Learning (RL)Mitigating Traffic Oscillations in Mixed Traffic Flow with Scalable Deep Koopman Predictive Control
The use of connected automated vehicle (CAV) is advocated to mitigate traffic oscillations in mixed traffic flow consisting of CAVs and human driven vehicles (HDVs). This study proposes an adaptive deep Koopman predictiv…
Model Predictive ControlTrajectory PredictionPredictive Lagrangian Optimization for Constrained Reinforcement Learning
Constrained optimization is popularly seen in reinforcement learning for addressing complex control tasks. From the perspective of dynamic system, iteratively solving a constrained optimization problem can be framed as t…
Model Predictive Controlreinforcement-learningReinforcement LearningDistributed Model Predictive Control Design for Multi-agent Systems via Bayesian Optimization
This paper introduces a new approach that leverages Multi-agent Bayesian Optimization (MABO) to design Distributed Model Predictive Control (DMPC) schemes for multi-agent systems. The primary objective is to learn optima…
Bayesian OptimizationDistributed OptimizationModel Predictive Control