Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
Feedback Favors the Generalization of Neural ODEs
The well-known generalization problem hinders the application of artificial neural networks in continuous-time prediction tasks with varying latent dynamics. In sharp contrast, biological systems can neatly adapt to evol…
Model Predictive ControlPhilosophyTrajectory PredictionCooperative nonlinear distributed model predictive control with dissimilar control horizons
In this paper, we introduce a nonlinear distributed model predictive control (DMPC) algorithm, which allows for dissimilar and time-varying control horizons among agents, thereby addressing a common limitation in current…
ManagementModel Predictive ControlRNN-based linear parameter varying adaptive model predictive control for autonomous driving
Autonomous driving is a complex and highly dynamic process that ensures controlling the coupled longitudinal and lateral vehicle dynamics. Model predictive control, distinguished by its predictive feature, optimal perfor…
Autonomous DrivingModel Predictive ControlFlying Quadrotors in Tight Formations using Learning-based Model Predictive Control
Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Alth…
Model Predictive ControlRobust Variable-Horizon MPC with Adaptive Terminal Constraints
This paper presents a novel robust variable-horizon model predictive control scheme designed to intercept a target moving along a known trajectory, in finite time. Linear discrete-time systems affected by bounded process…
Model Predictive ControlProbabilistically Input-to-State Stable Stochastic Model Predictive Control
Employing model predictive control to systems with unbounded, stochastic disturbances poses the challenge of guaranteeing safety, i.e., repeated feasibility and stability of the closed-loop system. Especially, there are …
Model Predictive ControlDynamic Neural Potential Field: Online Trajectory Optimization in Presence of Moving Obstacles
We address a task of local trajectory planning for the mobile robot in the presence of static and dynamic obstacles. Local trajectory is obtained as a numerical solution of the Model Predictive Control (MPC) problem. Col…
Collision AvoidanceModel Predictive ControlTrajectory PlanningMPC-guided, Data-driven Fuzzy Controller Synthesis
Model predictive control (MPC) is a powerful control technique for online optimization using system model-based predictions over a finite time horizon. However, the computational cost MPC requires can be prohibitive in r…
Model Predictive ControlWALL-E: World Alignment by Rule Learning Improves World Model-based LLM Agents
Can large language models (LLMs) directly serve as powerful world models for model-based agents? While the gaps between the prior knowledge of LLMs and the specified environment's dynamics do exist, our study reveals tha…
MinecraftModel Predictive ControlModel Predictive Control is Almost Optimal for Restless Bandit
We consider the discrete time infinite horizon average reward restless markovian bandit (RMAB) problem. We propose a \emph{model predictive control} based non-stationary policy with a rolling computational horizon $\tau$…
Model Predictive ControlLearning to Drift in Extreme Turning with Active Exploration and Gaussian Process Based MPC
Extreme cornering in racing often leads to large sideslip angles, presenting a significant challenge for vehicle control. Conventional vehicle controllers struggle to manage this scenario, necessitating the use of a drif…
GPRModel Predictive ControlregressionPrivacy-aware Fully Model-Free Event-triggered Cloud-based HVAC Control
Privacy is a major concern when computing-as-a-service (CaaS) platforms, e.g., cloud-computing platforms, are utilized for building automation, as CaaS platforms can infer sensitive information, such as occupancy, using …
Cloud ComputingModel Predictive ControlSafe Learning-Based Optimization of Model Predictive Control: Application to Battery Fast-Charging
Model predictive control (MPC) is a powerful tool for controlling complex nonlinear systems under constraints, but often struggles with model uncertainties and the design of suitable cost functions. To address these chal…
Bayesian OptimizationModel Predictive ControlGoal-Conditioned Terminal Value Estimation for Real-time and Multi-task Model Predictive Control
While MPC enables nonlinear feedback control by solving an optimal control problem at each timestep, the computational burden tends to be significantly large, making it difficult to optimize a policy within the control p…
Model Predictive ControlSmart energy management: process structure-based hybrid neural networks for optimal scheduling and economic predictive control in integrated systems
Integrated energy systems (IESs) are complex systems consisting of diverse operating units spanning multiple domains. To address its operational challenges, we propose a physics-informed hybrid time-series neural network…
energy managementManagementModel Predictive ControlScheduling+1Diffusion Model Predictive Control
We propose Diffusion Model Predictive Control (D-MPC), a novel MPC approach that learns a multi-step action proposal and a multi-step dynamics model, both using diffusion models, and combines them for use in online MPC. …
D4RLmodelModel Predictive ControlBisimulation metric for Model Predictive Control
Model-based reinforcement learning has shown promise for improving sample efficiency and decision-making in complex environments. However, existing methods face challenges in training stability, robustness to noise, and …
Computational Efficiencycontinuous-controlContinuous ControlDecision Making+3Custom Non-Linear Model Predictive Control for Obstacle Avoidance in Indoor and Outdoor Environments
Navigating complex environments requires Unmanned Aerial Vehicles (UAVs) and autonomous systems to perform trajectory tracking and obstacle avoidance in real-time. While many control strategies have effectively utilized …
Model Predictive ControlAnalyzing Fitts' Law using Offline and Online Optimal Control with Motor Noise
The cause of the speed-accuracy tradeoff (typically quantified via Fitts' Law) is a debated topic of interest in motor neuroscience, and is commonly studied using tools from control theory. Two prominent theories involve…
Model Predictive ControlThe Smart Buildings Control Suite: A Diverse Open Source Benchmark to Evaluate and Scale HVAC Control Policies for Sustainability
Commercial buildings account for 17% of U.S. carbon emissions, with roughly half of that from Heating, Ventilation, and Air Conditioning (HVAC). HVAC devices form a complex thermodynamic system, and while Model Predictiv…
Model Predictive ControlOffline RLOpenAI GymReinforcement Learning (RL)