Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
Closed-loop robust control of long-term diabetes progression via physical activity management
Large clinical evidence acknowledges the crucial role played by physical activity in delaying the progression of type-2 diabetes. However, the literature lacks control approaches that leverage exercise for type-2 diabete…
ManagementModel Predictive ControlTime-Constrained Model Predictive Control for Autonomous Satellite Rendezvous, Proximity Operations, and Docking
This paper presents a time-constrained model predictive control strategy for the six degree-of-freedom autonomous rendezvous, proximity, operations and docking problem between a controllable "deputy" satellite and an unc…
Model Predictive ControlMicrogrid Operation Control with State-of-Charge- Dependent Storage Power Constraints
The microgrid concept offers high flexibility and resilience due to the possibility of switching between grid-connected and stand-alone operation. This renders microgrids an auspicious solution for rural areas and critic…
Model Predictive ControlWhich price to pay? Auto-tuning building MPC controller for optimal economic cost
Model predictive control (MPC) controller is considered for temperature management in buildings but its performance heavily depends on hyperparameters. Consequently, MPC necessitates meticulous hyperparameter tuning to a…
Bayesian OptimizationComputational EfficiencyHyperparameter OptimizationModel Predictive ControlInsights from the application of nonlinear model predictive control to a cart-pendulum
Inspired greatly by Mills et al. (2009) and the solution within, this paper aims to more clearly explain the mathematics and implementation details of such a powerful control algorithm. While the aforementioned paper is …
Model Predictive ControlUncertainty-Aware Digital Twins: Robust Model Predictive Control using Time-Series Deep Quantile Learning
Digital Twins, virtual replicas of physical systems that enable real-time monitoring, model updates, predictions, and decision-making, present novel avenues for proactive control strategies for autonomous systems. Howeve…
Decision MakingModel Predictive Controlquantile regressionTime Series+1Monte Carlo Tree Search with Velocity Obstacles for safe and efficient motion planning in dynamic environments
Online motion planning is a challenging problem for intelligent robots moving in dense environments with dynamic obstacles, e.g., crowds. In this work, we propose a novel approach for optimal and safe online motion plann…
Model Predictive ControlMotion PlanningEconomic Model Predictive Control for Periodic Operation: A Quadratic Programming Approach
Periodic dynamical systems, distinguished by their repetitive behavior over time, are prevalent across various engineering disciplines. In numerous applications, particularly within industrial contexts, the implementatio…
Computational EfficiencyModel Predictive ControlKoopman Meets Limited Bandwidth: Effect of Quantization on Data-Driven Linear Prediction and Control of Nonlinear Systems
Koopman-based lifted linear identification have been widely used for data-driven prediction and model predictive control (MPC) of nonlinear systems. It has found applications in flow-control, soft robotics, and unmanned …
Model Predictive ControlQuantizationChance-constrained Model Predictive Control for Near Rectilinear Halo Orbit spacecraft rendezvous
This work presents a robust Model Predictive Controller (MPC) to solve the problem of spacecraft rendezvous in the context of the restricted three-body problem (R3BP) as will be required to dock with space stations in ci…
Model Predictive ControlvalidKoopman-Based Model Predictive Control of Functional Electrical Stimulation for Ankle Dorsiflexion and Plantarflexion Assistance
Functional Electrical Stimulation (FES) can be an effective tool to augment paretic muscle function and restore normal ankle function. Our approach incorporates a real-time, data-driven Model Predictive Control (MPC) sch…
Model Predictive ControlReal-Time Decision-Making for Digital Twin in Additive Manufacturing with Model Predictive Control using Time-Series Deep Neural Networks
Digital Twin -- a virtual replica of a physical system enabling real-time monitoring, model updating, prediction, and decision-making -- combined with recent advances in machine learning, offers new opportunities for pro…
Decision MakingModel Predictive ControlPredictionTime Series+1A Comparison of Strategies to Embed Physics-Informed Neural Networks in Nonlinear Model Predictive Control Formulations Solved via Direct Transcription
This study aims to benchmark candidate strategies for embedding neural network (NN) surrogates in nonlinear model predictive control (NMPC) formulations that are subject to systems described with partial differential equ…
Model Predictive ControlEnhanced sampled-data model predictive control via nonlinear lifting
This paper introduces a novel nonlinear model predictive control (NMPC) framework that incorporates a lifting technique to enhance control performance for nonlinear systems. While the lifting technique has been widely em…
Model Predictive ControlImitation Learning of MPC with Neural Networks: Error Guarantees and Sparsification
This paper presents a framework for bounding the approximation error in imitation model predictive controllers utilizing neural networks. Leveraging the Lipschitz properties of these neural networks, we derive a bound th…
Imitation LearningModel Predictive ControlLLMPC: Large Language Model Predictive Control
Recent advancements in prompting techniques for Large Language Models (LLMs) have improved their reasoning, planning, and action abilities. This paper examines these prompting techniques through the lens of model predict…
Language ModelingLanguage ModellingLarge Language Modelmodel+1Low-Thrust Under-Actuated Satellite Formation Guidance and Control Strategies
This study presents autonomous guidance and control strategies for the purpose of reconfiguring close-range multi-satellite formations. The formation under consideration includes $N$ under-actuated deputy satellites and …
Earth ObservationModel Predictive ControlHigh-Performance Model Predictive Control for Quadcopters with Formal Stability Guarantees
In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a mod…
Model Predictive ControlToward Scalable Multirobot Control: Fast Policy Learning in Distributed MPC
Distributed model predictive control (DMPC) is promising in achieving optimal cooperative control in multirobot systems (MRS). However, real-time DMPC implementation relies on numerical optimization tools to periodically…
Model Predictive ControlSimulation-based Approach for Fast Optimal Control of a Stefan Problem with Application to Cell Therapy
This article describes a new, efficient way of finding control and state trajectories in optimal control problems by reformulation as a system of differential-algebraic equations (DAEs). The optimal control and state vec…
Model Predictive Control