Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
An Efficient Resilient MPC Scheme via Constraint Tightening against Cyberattacks: Application to Vehicle Cruise Control
We propose a novel framework for designing a resilient Model Predictive Control (MPC) targeting uncertain linear systems under cyber attack. Assuming a periodic attack scenario, we model the system under Denial of Servic…
Model Predictive ControlCOPlanner: Plan to Roll Out Conservatively but to Explore Optimistically for Model-Based RL
Dyna-style model-based reinforcement learning contains two phases: model rollouts to generate sample for policy learning and real environment exploration using current policy for dynamics model learning. However, due to …
continuous-controlContinuous ControlModel-based Reinforcement LearningModel Predictive ControlInteraction-aware Traffic Prediction and Scenario-based Model Predictive Control for Autonomous Vehicles on Highways
This paper addresses the problem of traffic prediction and control of autonomous vehicles on highways. A modified Interacting Multiple Model Kalman filter algorithm is applied to predict the motion behavior of the traffi…
Autonomous VehiclesDecision MakingModel Predictive ControlTraffic PredictionFirst-Order Dynamic Optimization for Streaming Convex Costs
This paper proposes a set of novel optimization algorithms for solving a class of convex optimization problems with time-varying streaming cost function. We develop an approach to track the optimal solution with a bounde…
Model Predictive ControlASV Station Keeping under Wind Disturbances using Neural Network Simulation Error Minimization Model Predictive Control
Station keeping is an essential maneuver for Autonomous Surface Vehicles (ASVs), mainly when used in confined spaces, to carry out surveys that require the ASV to keep its position or in collaboration with other vehicles…
Model Predictive ControlNeural Network simulationPositionSafe-by-Construction Autonomous Vehicle Overtaking using Control Barrier Functions and Model Predictive Control
Ensuring safety for vehicle overtaking systems is one of the most fundamental and challenging tasks in autonomous driving. This task is particularly intricate when the vehicle must not only overtake its front vehicle saf…
Autonomous DrivingModel Predictive ControlTaking the human out of decomposition-based optimization via artificial intelligence: Part II. Learning to initialize
The repeated solution of large-scale optimization problems arises frequently in process systems engineering tasks. Decomposition-based solution methods have been widely used to reduce the corresponding computational time…
Active LearningModel Predictive ControlSecondary frequency control of islanded microgrid considering wind and solar stochastics
This paper proposed a model predictive control (MPC) secondary frequency control method considering wind and solar power generation stochastics. The extended state-space matrix including unknown stochastic power disturba…
Model Predictive ControlSub-linear Regret in Adaptive Model Predictive Control
We consider the problem of adaptive Model Predictive Control (MPC) for uncertain linear-systems with additive disturbances and with state and input constraints. We present STT-MPC (Self-Tuning Tube-based Model Predictive…
Model Predictive ControlAmortized Network Intervention to Steer the Excitatory Point Processes
Excitatory point processes (i.e., event flows) occurring over dynamic graphs (i.e., evolving topologies) provide a fine-grained model to capture how discrete events may spread over time and space. How to effectively stee…
Decision MakingModel-based Reinforcement LearningModel Predictive ControlPoint Processes+1A Finite Element Method Approach for Trajectory Generation via Time-Optimal Control and Model Predictive Control Tracking
In this paper a framework for solving the time optimal control (TOC) using Galerkin's Weighted Residuals Method (GWRM) and Sequential Convex Programming (SCP) is proposed. The proposed method solves the two-point boundar…
Model Predictive ControlDeep Model Predictive Optimization
A major challenge in robotics is to design robust policies which enable complex and agile behaviors in the real world. On one end of the spectrum, we have model-free reinforcement learning (MFRL), which is incredibly fle…
modelModel Predictive ControlSurrogate-based Real-time Curbside Management for Ride-hailing and Delivery Operations
The present work investigates surrogate model-based optimization for real-time curbside traffic management operations. An optimization problem is formulated to minimize the congestion on roadway segments caused by vehicl…
ManagementModel Predictive ControlregressionOptimal Control of District Cooling Energy Plant with Reinforcement Learning and MPC
We consider the problem of optimal control of district cooling energy plants (DCEPs) consisting of multiple chillers, a cooling tower, and a thermal energy storage (TES), in the presence of time-varying electricity price…
Model Predictive ControlQ-LearningReinforcement Learning (RL)Learning-Aided Warmstart of Model Predictive Control in Uncertain Fast-Changing Traffic
Model Predictive Control lacks the ability to escape local minima in nonconvex problems. Furthermore, in fast-changing, uncertain environments, the conventional warmstart, using the optimal trajectory from the last times…
Model Predictive ControlOnline Constraint Tightening in Stochastic Model Predictive Control: A Regression Approach
Solving chance-constrained stochastic optimal control problems is a significant challenge in control. This is because no analytical solutions exist for up to a handful of special cases. A common and computationally effic…
Model Predictive ControlregressionParameterized Convex Minorant for Objective Function Approximation in Amortized Optimization
Parameterized convex minorant (PCM) method is proposed for the approximation of the objective function in amortized optimization. In the proposed method, the objective function approximator is expressed by the sum of a P…
Model Predictive ControlStability Analysis of Hypersampled Model Predictive Control
This paper introduces a new framework for analyzing the stability of discrete-time model predictive controllers acting on continuous-time systems. The proposed framework introduces the distinction between discretization …
modelModel Predictive ControlA Dynamic Macroscopic Framework for Pricing of Ride-hailing Services with an Optional Bus Lane Access for Pool Vehicles
On-demand trip sharing is an efficient solution to mitigate the negative impact e-hailing has on congestion. It motivates platform operators to reduce their fleet size, and serves the same demand level with a lower effec…
Model Predictive ControlPath Structured Multimarginal Schrödinger Bridge for Probabilistic Learning of Hardware Resource Usage by Control Software
The solution of the path structured multimarginal Schr\"{o}dinger bridge problem (MSBP) is the most-likely measure-valued trajectory consistent with a sequence of observed probability measures or distributional snapshots…
Model Predictive Control