Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
Prediction-Based Leader-Follower Rendezvous Model Predictive Control with Robustness to Communication Losses
In this paper we propose a novel distributed model predictive control (DMPC) based algorithm with a trajectory predictor for a scenario of landing of unmanned aerial vehicles (UAVs) on a moving unmanned surface vehicle (…
Model Predictive ControlImitation Learning from Nonlinear MPC via the Exact Q-Loss and its Gauss-Newton Approximation
This work presents a novel loss function for learning nonlinear Model Predictive Control policies via Imitation Learning. Standard approaches to Imitation Learning neglect information about the expert and generally adopt…
Imitation LearningModel Predictive ControlOn the impact of regularization in data-driven predictive control
Model predictive control (MPC) is a control strategy widely used in industrial applications. However, its implementation typically requires a mathematical model of the system being controlled, which can be a time-consumi…
Model Predictive ControlOn stochastic MPC formulations with closed-loop guarantees: Analysis and a unifying framework
We investigate model predictive control (MPC) formulations for linear systems subject to i.i.d. stochastic disturbances with bounded support and chance constraints. Existing stochastic MPC formulations with closed-loop g…
Model Predictive ControlComputationally efficient predictive control based on ANN state-space models
Artificial neural networks (ANN) have been shown to be flexible and effective function estimators for identification of nonlinear state-space models. However, if the resulting models are used directly for nonlinear model…
Model Predictive ControlState Space ModelsRobust offset-free constrained Model Predictive Control with Long Short-Term Memory Networks -- Extended version
This paper develops a control scheme, based on the use of Long Short-Term Memory neural network models and Nonlinear Model Predictive Control, which guarantees recursive feasibility with slow time variant set-points and …
Model Predictive ControlConvex Hulls of Reachable Sets
We study the convex hulls of reachable sets of nonlinear systems with bounded disturbances and uncertain initial conditions. Reachable sets play a critical role in control, but remain notoriously challenging to compute, …
Model Predictive ControlEfficient Deep Learning of Robust, Adaptive Policies using Tube MPC-Guided Data Augmentation
The deployment of agile autonomous systems in challenging, unstructured environments requires adaptation capabilities and robustness to uncertainties. Existing robust and adaptive controllers, such as those based on mode…
Data AugmentationImitation LearningModel Predictive ControlPositionLong-term experimental study of price responsive predictive control in a real occupied single-family house with heat pump
The continuous introduction of renewable electricity and increased consumption through electrification of the transport and heating sector challenges grid stability. This study investigates load shifting through demand s…
ManagementModel Predictive ControlControl-oriented modeling of a LiBr/H2O absorption heat pumping device and experimental validation
Absorption heat pumping devices (AHPDs, comprising absorption heat pumps and chillers) are devices that use thermal energy instead of electricity to generate heating and cooling, thereby facilitating the use of waste hea…
Model Predictive ControlContinuum Swarm Tracking Control: A Geometric Perspective in Wasserstein Space
We consider a setting in which one swarm of agents is to service or track a second swarm, and formulate an optimal control problem which trades off between the competing objectives of servicing and motion costs. We consi…
Model Predictive ControlStochastic Model Predictive Control Utilizing Bayesian Neural Networks
Integrating measurements and historical data can enhance control systems through learning-based techniques, but ensuring performance and safety is challenging. Robust model predictive control strategies, like stochastic …
Gaussian ProcessesmodelModel Predictive ControlLearning for Online Mixed-Integer Model Predictive Control with Parametric Optimality Certificates
We propose a supervised learning framework for computing solutions of multi-parametric Mixed Integer Linear Programs (MILPs) that arise in Model Predictive Control. Our approach also quantifies sub-optimality for the com…
Model Predictive ControlMotion PlanningRobust Output-Lifted Learning Model Predictive Control
We propose an iterative approach for designing Robust Learning Model Predictive Control (LMPC) policies for a class of nonlinear systems with additive, unmodelled dynamics. The nominal dynamics are assumed to be differen…
modelModel Predictive ControlGlobal Performance Guarantees for Localized Model Predictive Control
Recent advances in model predictive control (MPC) leverage local communication constraints to produce localized MPC algorithms whose complexities scale independently of total network size. However, no characterization is…
modelModel Predictive ControlOnce upon a time step: A closed-loop approach to robust MPC design
A novel perspective on the design of robust model predictive control (MPC) methods is presented, whereby closed-loop constraint satisfaction is ensured using recursive feasibility of the MPC optimization. Necessary and s…
LEMMAModel Predictive ControlHybrid Systems Neural Control with Region-of-Attraction Planner
Hybrid systems are prevalent in robotics. However, ensuring the stability of hybrid systems is challenging due to sophisticated continuous and discrete dynamics. A system with all its system modes stable can still be uns…
Model Predictive ControlReinforcement Learning (RL)Ensemble Nonlinear Model Predictive Control for Residential Solar-Battery Energy Management
In a dynamic distribution market environment, residential prosumers with solar power generation and battery energy storage devices can flexibly interact with the power grid via power exchange. Providing a schedule of thi…
energy managementManagementModel Predictive ControlActive Learning-based Model Predictive Coverage Control
The problem of coverage control, i.e., of coordinating multiple agents to optimally cover an area, arises in various applications. However, coverage applications face two major challenges: (1) dealing with nonlinear dyna…
Active LearningmodelModel Predictive ControlAn Improved Approach for Output Feedback Model Predictive Control of Hybrid Systems
In this paper, a modified robust model predictive control scheme is proposed for linear parametric variable (LPV) and hybrid systems based on a quasi-min-max algorithm. Using a new cost function resulted in reduced unwan…
Model Predictive Control