Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
Learning-Based Model Predictive Control for Piecewise Affine Systems with Feasibility Guarantees
Online model predictive control (MPC) for piecewise affine (PWA) systems requires the online solution to an optimization problem that implicitly optimizes over the switching sequence of PWA regions, for which the computa…
continuous-controlContinuous ControlModel Predictive ControlFast Switching in Mixed-Integer Model Predictive Control
We derive stability results for finite control set and mixed-integer model predictive control with a downstream oversampling phase. The presentation rests upon the inherent robustness of model predictive control with sta…
Model Predictive ControlL4acados: Learning-based models for acados, applied to Gaussian process-based predictive control
Incorporating learning-based models, such as artificial neural networks or Gaussian processes, into model predictive control (MPC) strategies can significantly improve control performance and online adaptation capabiliti…
Computational EfficiencyGaussian ProcessesModel Predictive ControlDynamic Non-Prehensile Object Transport via Model-Predictive Reinforcement Learning
We investigate the problem of teaching a robot manipulator to perform dynamic non-prehensile object transport, also known as the `robot waiter' task, from a limited set of real-world demonstrations. We propose an approac…
Model Predictive Controlreinforcement-learningReinforcement LearningReinforcement Learning (RL)Nonlinear Model Predictive Control of a Hybrid Thermal Management System
Model predictive control has gained popularity for its ability to satisfy constraints and guarantee robustness for certain classes of systems. However, for systems whose dynamics are characterized by a high state dimensi…
ManagementModel Predictive ControlA Human-optimized Model Predictive Control Scheme and Extremum Seeking Parameter Estimator for Slip Control of Electric Race Cars
This paper presents a longitudinal slip control system for a rear-wheel-driven electric endurance race car. The control system integrates Model Predictive Control (MPC) with Extremum Seeking Control (ESC) to optimize the…
Model Predictive ControlIteration-Free Cooperative Distributed MPC through Multiparametric Programming
Cooperative Distributed Model Predictive Control (DiMPC) architecture employs local MPC controllers to control different subsystems, exchanging information with each other through an iterative procedure to enhance overal…
Model Predictive ControlFast Stochastic MPC using Affine Disturbance Feedback Gains Learned Offline
We propose a novel Stochastic Model Predictive Control (MPC) for uncertain linear systems subject to probabilistic constraints. The proposed approach leverages offline learning to extract key features of affine disturban…
Computational EfficiencyModel Predictive ControlEnergy Efficient Automated Driving as a GNEP: Vehicle-in-the-loop Experiments
In this paper, a multi-agent motion planning problem is studied aiming to minimize energy consumption of connected automated vehicles (CAVs) in lane change scenarios. We model this interactive motion planning as a genera…
Model Predictive ControlMotion PlanningBalancing Passenger Transport and Power Distribution: A Distributed Dispatch Policy for Shared Autonomous Electric Vehicles
Shared autonomous electric vehicles can provide on-demand transportation for passengers while also interacting extensively with the electric distribution system. This interaction is especially beneficial after a disaster…
Model Predictive ControlOn the Application of Model Predictive Control to a Weighted Coverage Path Planning Problem
This paper considers the application of Model Predictive Control (MPC) to a weighted coverage path planning (WCPP) problem. The problem appears in a wide range of practical applications, such as search and rescue (SAR) m…
Model Predictive ControlTraveling Salesman ProblemStochastic MPC for Finite Gaussian Mixture Disturbances with Guarantees
This paper presents a stochastic model predictive control (SMPC) algorithm for linear systems subject to additive Gaussian mixture disturbances, with the goal of satisfying chance constraints. We focus on a special case …
Model Predictive ControlvalidData-Driven Min-Max MPC for LPV Systems with Unknown Scheduling Signal
This paper presents a data-driven min-max model predictive control (MPC) scheme for linear parameter-varying (LPV) systems. Contrary to existing data-driven LPV control approaches, we assume that the scheduling signal is…
Model Predictive ControlSchedulingIntegrated Power and Thermal Management for Enhancing Energy Efficiency and Battery Life in Connected and Automated Electric Vehicles
Effective power and thermal management are essential for ensuring battery efficiency, safety, and longevity in Connected and Automated Electric Vehicles (CAEVs). However, real-time implementation is challenging due to th…
ManagementModel Predictive ControlModel Predictive Control Enabled UAV Trajectory Optimization and Secure Resource Allocation
In this paper, we investigate a secure communication architecture based on unmanned aerial vehicle (UAV), which enhances the security performance of the communication system through UAV trajectory optimization. We formul…
Model Predictive ControlEnergy-Aware Predictive Motion Planning for Autonomous Vehicles Using a Hybrid Zonotope Constraint Representation
Uncrewed aerial systems have tightly coupled energy and motion dynamics which must be accounted for by onboard planning algorithms. This work proposes a strategy for coupled motion and energy planning using model predict…
Autonomous VehiclesModel Predictive ControlMotion PlanningModel Predictive Control of Collinear Coulomb Spacecraft Formations
A model predictive control scheme to stabilize desired configurations of collinear Coulomb spacecraft formations is derived in this paper. The nonlinearities of the dynamics with respect to the input make this problem di…
modelModel Predictive ControlBidding and Dispatch Strategies with Flexibility Quantification and Pricing for Electric Vehicle Aggregator in Joint Energy-Regulation Market
Managing and unlocking the flexibility hidden in electric vehicles (EVs) has emerged as a critical yet challenging task towards low-carbon power and energy systems. This paper focuses on the online bidding and dispatch s…
Model Predictive ControlReceding Hamiltonian-Informed Optimal Neural Control and State Estimation for Closed-Loop Dynamical Systems
This paper formalizes Hamiltonian-Informed Optimal Neural (Hion) controllers, a novel class of neural network-based controllers for dynamical systems and explicit non-linear model predictive control. Hion controllers est…
Model Predictive ControlState EstimationMixed-Integer MPC-Based Motion Planning Using Hybrid Zonotopes with Tight Relaxations
Autonomous vehicle (AV) motion planning problems often involve non-convex constraints, which present a major barrier to applying model predictive control (MPC) in real time on embedded hardware. This paper presents an ap…
Model Predictive ControlMotion Planning