Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
Minimal Constraint Violation Probability in Model Predictive Control for Linear Systems
Handling uncertainty in model predictive control comes with various challenges, especially when considering state constraints under uncertainty. Most methods focus on either the conservative approach of robustly accounti…
Model Predictive ControlEfficient implementation of MPC for tracking using ADMM by decoupling its semi-banded structure
Model Predictive Control (MPC) for tracking formulation presents numerous advantages compared to standard MPC, such as a larger domain of attraction and recursive feasibility even when abrupt changes in the reference are…
Model Predictive ControlDesign and Realization of a Benchmarking Testbed for Evaluating Autonomous Platooning Algorithms
Autonomous vehicle platoons present near- and long-term opportunities to enhance operational efficiencies and save lives. The past 30 years have seen rapid development in the autonomous driving space, enabling new techno…
Autonomous DrivingBenchmarkingModel Predictive ControlLarge Language Model-Based Interpretable Machine Learning Control in Building Energy Systems
The potential of Machine Learning Control (MLC) in HVAC systems is hindered by its opaque nature and inference mechanisms, which is challenging for users and modelers to fully comprehend, ultimately leading to a lack of …
Decision MakingIn-Context LearningInterpretable Machine LearningLanguage Modeling+3Safe Guaranteed Exploration for Non-linear Systems
Safely exploring environments with a-priori unknown constraints is a fundamental challenge that restricts the autonomy of robots. While safety is paramount, guarantees on sufficient exploration are also crucial for ensur…
Efficient ExplorationModel Predictive ControlA Learning-based Model Predictive Control Scheme with Application to Temperature Control Units
Temperature control is a complex task due to its often unknown dynamics and disturbances. This paper explores the use of Neural Nonlinear AutoRegressive eXogenous (NNARX) models for nonlinear system identification and mo…
Model Predictive ControlReinforcement Learning with Ensemble Model Predictive Safety Certification
Reinforcement learning algorithms need exploration to learn. However, unsupervised exploration prevents the deployment of such algorithms on safety-critical tasks and limits real-world deployment. In this paper, we propo…
Deep Reinforcement LearningmodelModel Predictive Controlreinforcement-learning+1PSO-Based Adaptive NMPC for Uranium Extraction-Scrubbing Operation in Spent Nuclear Fuel Treatment Process
This paper addresses the particularities of adaptive optimal control of the uranium extraction-scrubbing operation in the PUREX process. The process dynamics are nonlinear, high dimensional, and have limited online measu…
Model Predictive ControlRisk-Aware MPC for Stochastic Systems with Runtime Temporal Logics
This paper concerns the risk-aware control of stochastic systems with temporal logic specifications dynamically assigned during runtime. Conventional risk-aware control typically assumes that all specifications are prede…
Model Predictive ControlMotion PlanningA Safe Reinforcement Learning driven Weights-varying Model Predictive Control for Autonomous Vehicle Motion Control
Determining the optimal cost function parameters of Model Predictive Control (MPC) to optimize multiple control objectives is a challenging and time-consuming task. Multiobjective Bayesian Optimization (BO) techniques so…
Bayesian OptimizationDeep Reinforcement LearningModel Predictive ControlReinforcement Learning (RL)+1Nonlinear model predictive control-based guidance law for path following of unmanned surface vehicles
This work proposes a nonlinear model predictive control-based guidance strategy for unmanned surface vehicles, focused on path following. The application of this strategy, in addition to overcome drawbacks of previous li…
Model Predictive ControlA Discrete-time Dynamical Model for Optimal Dispatching and Rebalancing of Autonomous Mobility-on-Demand Systems
Autonomous vehicles are rapidly evolving and will soon enable the application of large-scale mobility-on-demand (MoD) systems. Managing the fleets of available vehicles, commonly known as "rebalancing," is crucial to ens…
Autonomous VehiclesModel Predictive ControlSchedulingScalable Multi-modal Model Predictive Control via Duality-based Interaction Predictions
We propose a hierarchical architecture designed for scalable real-time Model Predictive Control (MPC) in complex, multi-modal traffic scenarios. This architecture comprises two key components: 1) RAID-Net, a novel attent…
Collision AvoidanceComputational EfficiencyModel Predictive ControlMotion PlanningA Data-Driven Autopilot for Fixed-Wing Aircraft Based on Model Predictive Control
Autopilots for fixed-wing aircraft are typically designed based on linearized aerodynamic models consisting of stability and control derivatives obtained from wind-tunnel testing. The resulting local controllers are then…
Model Predictive ControlSchedulingCombining Belief Function Theory and Stochastic Model Predictive Control for Multi-Modal Uncertainty in Autonomous Driving
In automated driving, predicting and accommodating the uncertain future motion of other traffic participants is challenging, especially in unstructured environments in which the high-level intention of traffic participan…
Autonomous DrivingCollision AvoidanceModel Predictive ControlTrajectory PlanningExperimental Application of Predictive Cost Adaptive Control to Thermoacoustic Oscillations in a Rijke Tube
Model predictive control (MPC) has been used successfully in diverse applications. As its name suggests, MPC requires a model for predictive optimization. The present paper focuses on the application of MPC to a Rijke tu…
Model Predictive ControlEco-driving under localization uncertainty for connected vehicles on Urban roads: Data-driven approach and Experiment verification
This paper addresses the eco-driving problem for connected vehicles on urban roads, considering localization uncertainty. Eco-driving is defined as longitudinal speed planning and control on roads with the presence of a …
Model Predictive ControlOptiState: State Estimation of Legged Robots using Gated Networks with Transformer-based Vision and Kalman Filtering
State estimation for legged robots is challenging due to their highly dynamic motion and limitations imposed by sensor accuracy. By integrating Kalman filtering, optimization, and learning-based modalities, we propose a …
Model Predictive ControlState EstimationCHoKI-based MPC for blood glucose regulation in Artificial Pancreas
This work presents a Model Predictive Control (MPC) for the artificial pancreas, which is able to autonomously manage basal insulin injections in type 1 diabetic patients. Specifically, the MPC goal is to maintain the pa…
Model Predictive ControlOptimal Control of Renewable Energy Communities subject to Network Peak Fees with Model Predictive Control and Reinforcement Learning Algorithms
We propose in this paper an optimal control framework for renewable energy communities (RECs) equipped with controllable assets. Such RECs allow its members to exchange production surplus through an internal market. The …
Model Predictive Controlreinforcement-learning