Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
No-Regret Model Predictive Control with Online Learning of Koopman Operators
We study a problem of simultaneous system identification and model predictive control of nonlinear systems. Particularly, we provide an algorithm for systems with unknown residual dynamics that can be expressed by Koopma…
Model Predictive ControlDistributed model predictive control without terminal cost under inexact distributed optimization
This paper presents a novel distributed model predictive control (MPC) formulation without terminal cost and a corresponding distributed synthesis approach for distributed linear discrete-time systems with coupled constr…
Distributed OptimizationModel Predictive ControlOn relaxing the N-Reachability Implicit Requirement in NMPC Design
This paper proposes a proof of stability for Model Predictive Control formulations involving a prediction horizon that might be too short to meet the reachability condition generally invoked as a sufficient condition for…
Model Predictive ControlPredictionWALL-E 2.0: World Alignment by NeuroSymbolic Learning improves World Model-based LLM Agents
Can we build accurate world models out of large language models (LLMs)? How can world models benefit LLM agents? The gap between the prior knowledge of LLMs and the specified environment's dynamics usually bottlenecks LL…
Knowledge GraphsMinecraftModel Predictive ControlA Quadratic Control Framework for Dynamic Systems
This article presents a unified approach to quadratic optimal control for both linear and nonlinear discrete-time systems, with a focus on trajectory tracking. The control strategy is based on minimizing a quadratic cost…
Model Predictive ControlData-Driven Evolutionary Game-Based Model Predictive Control for Hybrid Renewable Energy Dispatch in Autonomous Ships
In this paper, we propose a data-driven Evolutionary Game-Based Model Predictive Control (EG-MPC) framework for the energy dispatch of a hybrid renewable energy system powering an autonomous ship. The system integrates s…
Model Predictive ControlA Model-Based Approach to Imitation Learning through Multi-Step Predictions
Imitation learning is a widely used approach for training agents to replicate expert behavior in complex decision-making tasks. However, existing methods often struggle with compounding errors and limited generalization,…
Decision MakingImitation LearningModel Predictive ControlIntegration of a Graph-Based Path Planner and Mixed-Integer MPC for Robot Navigation in Cluttered Environments
The ability to update a path plan is a required capability for autonomous mobile robots navigating through uncertain environments. This paper proposes a re-planning strategy using a multilayer planning and control framew…
Model Predictive ControlRobot NavigationA Model Predictive Control Approach for Quadrotor Cruise Control
This paper investigates the application of a Model Predictive Controller (MPC) for the cruise control system of a quadrotor, focusing on hovering point stabilization and reference tracking. Initially, a full-state-feedba…
Model Predictive ControlContract-based hierarchical control using predictive feasibility value functions
Today's control systems are often characterized by modularity and safety requirements to handle complexity, resulting in hierarchical control structures. Although hierarchical model predictive control offers favorable pr…
Autonomous DrivingComputational EfficiencyModel Predictive ControlNeural Networks for on-chip Model Predictive Control: a Method to Build Optimized Training Datasets and its application to Type-1 Diabetes
Training Neural Networks (NNs) to behave as Model Predictive Control (MPC) algorithms is an effective way to implement them in constrained embedded devices. By collecting large amounts of input-output data, where inputs …
Model Predictive ControlRobust MPC for Uncertain Linear Systems -- Combining Model Adaptation and Iterative Learning
This paper presents a robust adaptive learning Model Predictive Control (MPC) framework for linear systems with parametric uncertainties and additive disturbances performing iterative tasks. The approach iteratively refi…
Computational EfficiencyModel Predictive ControlOffset-free Nonlinear MPC with Koopman-based Surrogate Models
In this paper, we design offset-free nonlinear Model Predictive Control (MPC) for surrogate models based on Extended Dynamic Mode Decomposition (EDMD). The model used for prediction in MPC is augmented with a disturbance…
Model Predictive ControlA moving horizon estimator for aquifer thermal energy storages
Aquifer thermal energy storages (ATES) represent groundwater saturated aquifers that store thermal energy in the form of heated or cooled groundwater. Combining two ATES, one can harness excess thermal energy from summer…
Model Predictive ControlRobust Output-Feedback MPC for Nonlinear Systems with Applications to Robotic Exploration
This paper introduces a novel method for robust output-feedback model predictive control (MPC) for a class of nonlinear discrete-time systems. We propose a novel interval-valued predictor which, given an initial estimate…
Model Predictive ControlRobot NavigationSafe Data-Driven Predictive Control
In the realm of control systems, model predictive control (MPC) has exhibited remarkable potential; however, its reliance on accurate models and substantial computational resources has hindered its broader application, e…
Model Predictive ControlES-HPC-MPC: Exponentially Stable Hybrid Perception Constrained MPC for Quadrotor with Suspended Payloads
Aerial transportation using quadrotors with cable-suspended payloads holds great potential for applications in disaster response, logistics, and infrastructure maintenance. However, their hybrid and underactuated dynamic…
Disaster ResponseModel Predictive ControlDeep Neural Koopman Operator-based Economic Model Predictive Control of Shipboard Carbon Capture System
Shipboard carbon capture is a promising solution to help reduce carbon emissions in international shipping. In this work, we propose a data-driven dynamic modeling and economic predictive control approach within the Koop…
Model Predictive ControlPlug and Play Distributed Control of Clustered Energy Hub Networks
The transition to renewable energy is driving the rise of distributed multi-energy systems, in which individual energy hubs and prosumers (e.g., homes, industrial campuses) generate, store, and trade energy. Economic Mod…
energy managementenergy tradingModel Predictive ControlInstructMPC: A Human-LLM-in-the-Loop Framework for Context-Aware Control
Model Predictive Control (MPC) is a powerful control strategy widely utilized in domains like energy management, building control, and autonomous systems. However, its effectiveness in real-world settings is challenged b…
energy managementLanguage ModelingLanguage ModellingLarge Language Model+1