Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
Set-Point Tracking MPC with Avoidance Features
This work proposes a finite-horizon optimal control strategy to solve the tracking problem while providing avoidance features to the closed-loop system. Inspired by the set-point tracking model predictive control (MPC) f…
Model Predictive ControlPoint TrackingParallel Shooting Sequential Quadratic Programming for Nonlinear MPC Problems
In this paper, we propose a parallel shooting algorithm for solving nonlinear model predictive control problems using sequential quadratic programming. This algorithm is built on a two-phase approach where we first test …
Model Predictive ControlRobust constrained nonlinear Model Predictive Control with Gated Recurrent Unit model -- Extended version
In this paper we propose a robust Model Predictive Control where a Gated Recurrent Unit network model is used to learn the input-output dynamic of the system under control. Robust satisfaction of input and output constra…
modelModel Predictive ControlCombining model-predictive control and predictive reinforcement learning for stable quadrupedal robot locomotion
Stable gait generation is a crucial problem for legged robot locomotion as this impacts other critical performance factors such as, e.g. mobility over an uneven terrain and power consumption. Gait generation stability re…
Model Predictive Controlreinforcement-learningReinforcement Learning (RL)Hybrid Control Policy for Artificial Pancreas via Ensemble Deep Reinforcement Learning
Objective: The artificial pancreas (AP) has shown promising potential in achieving closed-loop glucose control for individuals with type 1 diabetes mellitus (T1DM). However, designing an effective control policy for the …
Deep Reinforcement LearningMeta-LearningModel Predictive Controlreinforcement-learningA Novel Bayes' Theorem for Upper Probabilities
In their seminal 1990 paper, Wasserman and Kadane establish an upper bound for the Bayes' posterior probability of a measurable set $A$, when the prior lies in a class of probability measures $\mathcal{P}$ and the likeli…
Model Predictive ControlOn the Design of Nonlinear MPC and LPVMPC for Obstacle Avoidance in Autonomous Driving
In this study, we are concerned with autonomous driving missions when a static obstacle blocks a given reference trajectory. To provide a realistic control design, we employ a model predictive control (MPC) utilizing non…
Autonomous DrivingModel Predictive ControlSchedulingSequential Neural Barriers for Scalable Dynamic Obstacle Avoidance
There are two major challenges for scaling up robot navigation around dynamic obstacles: the complex interaction dynamics of the obstacles can be hard to model analytically, and the complexity of planning and control gro…
Collision AvoidanceModel Predictive ControlRobot NavigationTemporal SequencesShadow operator: Effective dynamic load change operation training in air separation processes based on industrial nonlinear MPC and Bloom's taxonomy
A novel human-machine interactive training method for dynamic load change operation in air separation processes (ASPs) is proposed. A shadow operator (SO) is developed in this method to train ASP operators through indust…
Model Predictive ControlAnalysis and design of model predictive control frameworks for dynamic operation -- An overview
This article provides an overview of model predictive control (MPC) frameworks for dynamic operation of nonlinear constrained systems. Dynamic operation is often an integral part of the control objective, ranging from tr…
Model Predictive ControlDemand Response by Aggregates of Domestic Water Heaters with Adaptive Model Predictive Control
This paper describes an intelligent management algorithm for an aggregate of domestic electric water heaters called to provide a demand response service. This algorithm is developed using Model Predictive Control. The mo…
ManagementModel Predictive ControlCollision-free Motion Planning for Mobile Robots by Zero-order Robust Optimization-based MPC
This paper presents an implementation of robust model predictive control (MPC) for collision-free reference trajectory tracking for mobile robots. The presented approach considers the robot motion to be subject to proces…
Model Predictive ControlMotion PlanningDynamic-Resolution Model Learning for Object Pile Manipulation
Dynamics models learned from visual observations have shown to be effective in various robotic manipulation tasks. One of the key questions for learning such dynamics models is what scene representation to use. Prior wor…
modelModel Predictive ControlObjectNonlinear Data-Driven Control Part II: qLPV Predictive Control using Parameter Extrapolation
We present a novel data-driven Model Predictive Control (MPC) algorithm for nonlinear systems. The method is based on recent extensions of behavioural theory and Willem's Fundamental Lemma for nonlinear systems by the me…
LEMMAModel Predictive ControlSchedulingA Unified Framework for Online Data-Driven Predictive Control with Robust Safety Guarantees
Despite great successes, model predictive control (MPC) relies on an accurate dynamical model and requires high onboard computational power, impeding its wider adoption in engineering systems, especially for nonlinear re…
Model Predictive ControlA Hierarchical Architecture for Optimal Unit Commitment and Control of an Ensemble of Steam Generators
A hierarchical architecture for the optimal management of an ensemble of steam generators is presented. The subsystems are coordinated by a multilayer scheme for jointly sustaining a common load. The high level optimizes…
ManagementModel Predictive ControlApproximate Dynamic Programming for Constrained Piecewise Affine Systems with Stability and Safety Guarantees
Infinite-horizon optimal control of constrained piecewise affine (PWA) systems has been approximately addressed by hybrid model predictive control (MPC), which, however, has computational limitations, both in offline des…
Computational EfficiencyCPUModel Predictive ControlA direct optimization algorithm for input-constrained MPC
Providing an execution time certificate is a pressing requirement when deploying Model Predictive Control (MPC) in real-time embedded systems such as microcontrollers. Real-time MPC requires that its worst-case (maximum)…
Model Predictive ControlNon-asymptotic System Identification for Linear Systems with Nonlinear Policies
This paper considers a single-trajectory system identification problem for linear systems under general nonlinear and/or time-varying policies with i.i.d. random excitation noises. The problem is motivated by safe learni…
Model Predictive ControlCAV Traffic Control to Mitigate the Impact of Congestion from Bottlenecks: A Linear Quadratic Regulator Approach and Microsimulation Study
This work investigates traffic control via controlled connected and automated vehicles (CAVs) using novel controllers derived from the linear-quadratic regulator (LQR) theory. CAV-platoons are modeled as moving bottlenec…
Model Predictive Control