Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
Synchronization-Based Cooperative Distributed Model Predictive Control
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical const…
modelModel Predictive ControlASMA: An Adaptive Safety Margin Algorithm for Vision-Language Drone Navigation via Scene-Aware Control Barrier Functions
In the rapidly evolving field of vision-language navigation (VLN), ensuring safety for physical agents remains an open challenge. For a human-in-the-loop language-operated drone to navigate safely, it must understand nat…
Drone navigationModel Predictive ControlNavigateVision-Language NavigationStochastic Data-Driven Predictive Control: Chance-Constraint Satisfaction with Identified Multi-step Predictors
We propose a novel data-driven stochastic model predictive control framework for uncertain linear systems with noisy output measurements. Our approach leverages multi-step predictors to efficiently propagate uncertainty,…
Model Predictive ControlSafety Verification and Navigation for Autonomous Vehicles based on Signal Temporal Logic Constraints
The software architecture behind modern autonomous vehicles (AV) is becoming more complex steadily. Safety verification is now an imminent task prior to the large-scale deployment of such convoluted models. For safety-cr…
Autonomous VehiclesModel Predictive ControlNavigateCritic as Lyapunov function (CALF): a model-free, stability-ensuring agent
This work presents and showcases a novel reinforcement learning agent called Critic As Lyapunov Function (CALF) which is model-free and ensures online environment, in other words, dynamical system stabilization. Online m…
Model Predictive Controlreinforcement-learningReinforcement LearningPIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion
A core strength of Model Predictive Control (MPC) for quadrupedal locomotion has been its ability to enforce constraints and provide interpretability of the sequence of commands over the horizon. However, despite being a…
Model Predictive ControlReinforcement Learning (RL)Towards safe and tractable Gaussian process-based MPC: Efficient sampling within a sequential quadratic programming framework
Learning uncertain dynamics models using Gaussian process~(GP) regression has been demonstrated to enable high-performance and safety-aware control strategies for challenging real-world applications. Yet, for computation…
Model Predictive ControlOptimal Operation of a Building with Electricity-Heat Networks and Seasonal Storage
As seasonal thermal energy storage emerges as an efficient solution to reduce CO2 emissions of buildings, challenges appear related to its optimal operation. In a system including short-term electricity storage, long-ter…
Model Predictive ControlPredictionSuperior Computer Chess with Model Predictive Control, Reinforcement Learning, and Rollout
In this paper we apply model predictive control (MPC), rollout, and reinforcement learning (RL) methodologies to computer chess. We introduce a new architecture for move selection, within which available chess engines ar…
Model Predictive ControlPositionReinforcement Learning (RL)Probabilistically safe controllers based on control barrier functions and scenario model predictive control
Control barrier functions (CBFs) offer an efficient framework for designing real-time safe controllers. However, CBF-based controllers can be short-sighted, resulting in poor performance, a behaviour which is aggravated …
Model Predictive ControlAutoencoder-Based and Physically Motivated Koopman Lifted States for Wind Farm MPC: A Comparative Case Study
This paper explores the use of Autoencoder (AE) models to identify Koopman-based linear representations for designing model predictive control (MPC) for wind farms. Wake interactions in wind farms are challenging to mode…
Model Predictive ControlLearning-Enabled Iterative Convex Optimization for Safety-Critical Model Predictive Control
Safety remains a central challenge in control of dynamical systems, particularly when the boundaries of unsafe sets are complex or unknown. This paper proposes a learning-enabled framework for safety-critical Model Predi…
Model Predictive ControlProtecting residential electrical panels and service through model predictive control: A field study
Residential electrification - replacing fossil-fueled appliances and vehicles with electric machines - can significantly reduce greenhouse gas emissions and air pollution. However, installing electric appliances or vehic…
Model Predictive ControlRobust Model Predictive Control Exploiting Monotonicity Properties
Robust model predictive control algorithms are essential for addressing unavoidable errors due to the uncertainty in predicting real-world systems. However, the formulation of such algorithms typically results in a trade…
modelModel Predictive ControlComparison of Model Predictive Control and Proximal Policy Optimization for a 1-DOF Helicopter System
This study conducts a comparative analysis of Model Predictive Control (MPC) and Proximal Policy Optimization (PPO), a Deep Reinforcement Learning (DRL) algorithm, applied to a 1-Degree of Freedom (DOF) Quanser Aero 2 sy…
Deep Reinforcement LearningModel Predictive ControlApplications in CityLearn Gym Environment for Multi-Objective Control Benchmarking in Grid-Interactive Buildings and Districts
It is challenging to coordinate multiple distributed energy resources in a single or multiple buildings to ensure efficient and flexible operation. Advanced control algorithms such as model predictive control and reinfor…
BenchmarkingModel Predictive ControlFixed-time Disturbance Observer-Based MPC Robust Trajectory Tracking Control of Quadrotor
In this paper, a fixed-time disturbance observerbased model predictive control algorithm is proposed for trajectory tracking of quadrotor in the presence of disturbances. First, a novel multivariable fixed-time disturban…
Model Predictive ControlModel Predictive Control for T-S Fuzzy Markovian Jump Systems Using Dynamic Prediction Optimization
In this paper, the model predictive control (MPC) problem is investigated for the constrained discrete-time Takagi-Sugeno fuzzy Markovian jump systems (FMJSs) under imperfect premise matching rules. To strike a balance b…
Model Predictive ControlHierarchical-type Model Predictive Control and Experimental Evaluation for a Water-Hydraulic Artificial Muscle with Direct Data-Driven Adaptive Model Matching
High-precision displacement control for water-hydraulic artificial muscles is a challenging issue due to its strong hysteresis characteristics that is hard to be modelled precisely, and many control methods have been pro…
Model Predictive ControlAn IoT Framework for Building Energy Optimization Using Machine Learning-based MPC
This study proposes a machine learning-based Model Predictive Control (MPC) approach for controlling Air Handling Unit (AHU) systems by employing an Internet of Things (IoT) framework. The proposed framework utilizes an …
Model Predictive Control