Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
Transformer-based Model Predictive Control: Trajectory Optimization via Sequence Modeling
Model predictive control (MPC) has established itself as the primary methodology for constrained control, enabling general-purpose robot autonomy in diverse real-world scenarios. However, for most problems of interest, M…
Model Predictive ControlCarbon Neutral Greenhouse: Economic Model Predictive Control Framework for Education
This paper presents a comprehensive framework aimed at enhancing education in modeling, optimal control, and nonlinear Model Predictive Control~(MPC) through a practical greenhouse climate control model. The framework in…
Model Predictive ControlAdaptive Distributed Observer-based Model Predictive Control for Multi-agent Formation with Resilience to Communication Link Faults
In order to address the nonlinear multi-agent formation tracking control problem with input constraints and unknown communication faults, a novel adaptive distributed observer-based distributed model predictive control m…
Model Predictive ControlFirst, Learn What You Don't Know: Active Information Gathering for Driving at the Limits of Handling
Combining data-driven models that adapt online and model predictive control (MPC) has enabled effective control of nonlinear systems. However, when deployed on unstable systems, online adaptation may not be fast enough t…
FrictionMeta-LearningModel Predictive ControlV2X-Assisted Distributed Computing and Control Framework for Connected and Automated Vehicles under Ramp Merging Scenario
This paper investigates distributed computing and cooperative control of connected and automated vehicles (CAVs) in ramp merging scenario under transportation cyber-physical system. Firstly, a centralized cooperative tra…
Distributed ComputingModel Predictive ControlTrajectory PlanningPC-Gym: Benchmark Environments For Process Control Problems
PC-Gym is an open-source tool for developing and evaluating reinforcement learning (RL) algorithms in chemical process control. It features environments that simulate various chemical processes, incorporating nonlinear d…
BenchmarkingChemical ProcessModel Predictive ControlReinforcement Learning (RL)Learning Maximal Safe Sets Using Hypernetworks for MPC-based Local Trajectory Planning in Unknown Environments
This paper presents a novel learning-based approach for online estimation of maximal safe sets for local trajectory planning in unknown static environments. The neural representation of a set is used as the terminal set …
Model Predictive ControlMotion PlanningTrajectory PlanningExperimental implementation of an economic model predictive control for froth flotation
We present the implementation of a novel economic model predictive control (E-MPC) strategy for froth flotation, the largest tonnage mineral separation process. A previously calibrated and validated dynamic model incorpo…
Model Predictive ControlQuantum optimization for Nonlinear Model Predictive Control
Nonlinear Model Predictive Control (NMPC) is a general and flexible control approach, used in many industrial contexts, and is based on the online solution of a nonlinear optimization problem. This operation requires in …
modelModel Predictive ControlConstraint-adaptive MPC for large-scale systems: Satisfying state constraints without imposing them
Model Predictive Control (MPC) is a successful control methodology, which is applied to increasingly complex systems. However, real-time feasibility of MPC can be challenging for complex systems, certainly when an (extre…
Model Predictive ControlAccelerating soft-constrained MPC for linear systems through online constraint removal
Optimization-based controllers, such as Model Predictive Control (MPC), have attracted significant research interest due to their intuitive concept, constraint handling capabilities, and natural application to multi-inpu…
Model Predictive ControlConstraint Removal for MPC with Performance Preservation and a Hyperthermia Cancer Treatment Case Study
Model predictive control (MPC) is an optimization-based control strategy with broad industrial adoption. Unfortunately, the required computation time to solve the receding-horizon MPC optimization problem can become proh…
Model Predictive ControlReservoir computing for system identification and predictive control with limited data
Model predictive control (MPC) is an industry standard control technique that iteratively solves an open-loop optimization problem to guide a system towards a desired state or trajectory. Consequently, an accurate forwar…
Model Predictive ControlvalidNon-myopic Generation of Language Models for Reasoning and Planning
Large Language Models have demonstrated remarkable abilities in reasoning and planning by breaking down complex problems into sequential steps. Despite their success in various domains like mathematical problem-solving a…
Computational EfficiencyLanguage ModellingMathMathematical Problem-Solving+1Fast Physics-Informed Model Predictive Control Approximation for Lyapunov Stability
At the forefront of control techniques is Model Predictive Control (MPC). While MPCs are effective, their requisite to recompute an optimal control given a new state leads to sparse response to the system and may make th…
Model Predictive ControlLossless optimal transient control for rigid bodies in 3D space
In this letter, we propose a control scheme for rigid bodies designed to optimise transient behaviors. The search space for the optimal control input is parameterized to yield a passive, specifically lossless, nonlinear …
Model Predictive ControlTime-Varying Convex Optimization with $O(n)$ Computational Complexity
In this article, we consider the problem of unconstrained time-varying convex optimization, where the cost function changes with time. We provide an in-depth technical analysis of the problem and argue why freezing the c…
Model Predictive ControlRTI-NMPC for Control of Autonomous Vehicles Using Implicit Discretization Methods
Recent efforts in the development of autonomous driving technology have induced great advancements in perception, planning and control systems. Model predictive control is one of the most popular advanced control methods…
Autonomous DrivingAutonomous VehiclesModel Predictive ControlPD-Based and SINDy Nonlinear Dynamics Identification of UAVs for MPC Design
This paper presents a comprehensive approach to nonlinear dynamics identification for UAVs using a combination of data-driven techniques and theoretical modeling. Two key methodologies are explored: Proportional-Derivati…
Model Predictive ControlDR-MPC: Deep Residual Model Predictive Control for Real-world Social Navigation
How can a robot safely navigate around people with complex motion patterns? Deep Reinforcement Learning (DRL) in simulation holds some promise, but much prior work relies on simulators that fail to capture the nuances of…
Deep Reinforcement LearningModel Predictive ControlNavigateReinforcement Learning (RL)+1