Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
Control-Coherent Koopman Modeling: A Physical Modeling Approach
The modeling of nonlinear dynamics based on Koopman operator theory, which is originally applicable only to autonomous systems with no control, is extended to non-autonomous control system without approximation to input …
Model Predictive ControlVoltage Regulation in Polymer Electrolyte Fuel Cell Systems Using Gaussian Process Model Predictive Control
This study introduces a novel approach utilizing Gaussian process model predictive control (MPC) to stabilize the output voltage of a polymer electrolyte fuel cell (PEFC) system by simultaneously regulating hydrogen and …
Model Predictive ControlCausal Tracking of Distributions in Wasserstein Space: A Model Predictive Control Scheme
We consider a problem of optimal swarm tracking which can be formulated as a tracking problem for distributions in the Wasserstein space. Optimal solutions to this problem are non-causal and require knowing the time-traj…
Model Predictive ControlReal-Time Reconfiguration and Connectivity Maintenance for AUVs Network Under External Disturbances using Distributed Nonlinear Model Predictive Control
Advancements in underwater vehicle technology have significantly expanded the potential scope for deploying autonomous or remotely operated underwater vehicles in novel practical applications. However, the efficiency and…
Model Predictive ControlAutonomous Driving With Perception Uncertainties: Deep-Ensemble Based Adaptive Cruise Control
Autonomous driving depends on perception systems to understand the environment and to inform downstream decision-making. While advanced perception systems utilizing black-box Deep Neural Networks (DNNs) demonstrate human…
Autonomous DrivingDecision MakingModel Predictive ControlTask-optimal data-driven surrogate models for eNMPC via differentiable simulation and optimization
Mechanistic dynamic process models may be too computationally expensive to be usable as part of a real-time capable predictive controller. We present a method for end-to-end learning of Koopman surrogate models for optim…
Model Predictive ControlReinforcement Learning (RL)A Benchmark for the Application of Distributed Control Techniques to the Electricity Network of the European Economic Area
The European Economic Area Electricity Network Benchmark (EEA-ENB) is a multi-area power system representing the European network of transmission systems for electricity to facilitate the application of distributed contr…
Model Predictive ControlPriority-based Energy Allocation in Buildings through Distributed Model Predictive Control
Many countries are facing energy shortage today and most of the global energy is consumed by HVAC systems in buildings. For the scenarios where the energy system is not sufficiently supplied to HVAC systems, a priority-b…
Model Predictive ControlLattice piecewise affine approximation of explicit model predictive control with application to satellite attitude control
Satellite attitude cotrol is a crucial part of aerospace technology, and model predictive control(MPC) is one of the most promising controllers in this area, which will be less effective if real-time online optimization …
Model Predictive ControlContext-aware LLM-based Safe Control Against Latent Risks
Autonomous control systems face significant challenges in performing complex tasks in the presence of latent risks. To address this, we propose an integrated framework that combines Large Language Models (LLMs), numerica…
In-Context LearningModel Predictive ControlDeep Neural Network NMPC for Computationally Tractable Optimal Power Management of Hybrid Electric Vehicle
This study presents a method for deep neural network nonlinear model predictive control (DNN-MPC) to reduce computational complexity, and we show its practical utility through its application in optimizing the energy man…
energy managementManagementModel Predictive ControlOptimal Sequencing and Motion Control in a Roundabout with Safety Guarantees
This paper develops a controller for Connected and Automated Vehicles (CAVs) traversing a single-lane roundabout. The controller simultaneously determines the optimal sequence and associated optimal motion control jointl…
Model Predictive ControlRemote UGV Control via Practical Wireless Channels: A Model Predictive Control Approach
In addressing wireless networked control systems (WNCS) subject to unexpected packet loss and uncertainties, this paper presents a practical Model Predictive Control (MPC) based control scheme with considerations of of p…
Model Predictive ControlGMPC: Geometric Model Predictive Control for Wheeled Mobile Robot Trajectory Tracking
The configuration of most robotic systems lies in continuous transformation groups. However, in mobile robot trajectory tracking, many recent works still naively utilize optimization methods for elements in vector space …
Model Predictive ControlDeepSafeMPC: Deep Learning-Based Model Predictive Control for Safe Multi-Agent Reinforcement Learning
Safe Multi-agent reinforcement learning (safe MARL) has increasingly gained attention in recent years, emphasizing the need for agents to not only optimize the global return but also adhere to safety requirements through…
Model Predictive ControlMuJoCoMulti-agent Reinforcement Learningreinforcement-learning+1Model Predictive Control Strategies for Electric Endurance Race Cars Accounting for Competitors Interactions
This paper presents model predictive control strategies for battery electric endurance race cars accounting for interactions with the competitors. In particular, we devise an optimization framework capturing the impact o…
Decision MakingModel Predictive ControlReal-time Regulation of Detention Ponds via Feedback Control: Balancing Flood Mitigation and Water Quality
Detention ponds can mitigate flooding and improve water quality by allowing the settlement of pollutants. Typically, they are operated with fully open orifices and weirs (i.e., passive control). Active controls can impro…
Model Predictive ControlClosed-loop Performance Optimization of Model Predictive Control with Robustness Guarantees
Model mismatch and process noise are two frequently occurring phenomena that can drastically affect the performance of model predictive control (MPC) in practical applications. We propose a principled way to tune the cos…
Model Predictive ControlImplementation of soft-constrained MPC for Tracking using its semi-banded problem structure
Model Predictive Control (MPC) is a popular control approach due to its ability to consider constraints, including input and state restrictions, while minimizing a cost function. However, in practice, these constraints c…
Computational EfficiencyModel Predictive ControlLeTac-MPC: Learning Model Predictive Control for Tactile-reactive Grasping
Grasping is a crucial task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects under various conditions and with differing physical properties. In this paper, we i…
Model Predictive Control