Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
Tube-based Distributionally Robust Model Predictive Control for Nonlinear Process Systems via Linearization
Model predictive control (MPC) is an effective approach to control multivariable dynamic systems with constraints. Most real dynamic models are however affected by plant-model mismatch and process uncertainties, which ca…
Model Predictive ControlLearning-enhanced Nonlinear Model Predictive Control using Knowledge-based Neural Ordinary Differential Equations and Deep Ensembles
Nonlinear model predictive control (MPC) is a flexible and increasingly popular framework used to synthesize feedback control strategies that can satisfy both state and control input constraints. In this framework, an op…
Model Predictive ControlAsynchronous Computation of Tube-based Model Predictive Control
Tube-based model predictive control (MPC) methods bound deviations from a nominal trajectory due to uncertainties in order to ensure constraint satisfaction. While techniques that compute the tubes online reduce conserva…
Model Predictive ControlModel-agnostic stochastic model predictive control
We propose a model-agnostic stochastic predictive control (MASMPC) algorithm for dynamical systems. The proposed approach first discovers \textit{interpretable} governing differential equations from data using a novel al…
Equation DiscoverymodelModel Predictive ControlEnhancing Mobile Robot Navigation Safety and Efficiency through NMPC with Relaxed CBF in Dynamic Environments
In this paper, a safety-critical control strategy for a nonholonomic robot is developed to generate control signals that result in optimal, obstacle-free paths through dynamic environments. We formulate the control synth…
Computational EfficiencyModel Predictive ControlRobot NavigationA Computationally Efficient Robust Model Predictive Control Framework for Ecological Adaptive Cruise Control Strategy of Electric Vehicles
The recent advancement in vehicular networking technology provides novel solutions for designing intelligent and sustainable vehicle motion controllers. This work addresses a car-following task, where the feedback linear…
Model Predictive ControlUncertainty-aware data-driven predictive control in a stochastic setting
Data-Driven Predictive Control (DDPC) has been recently proposed as an effective alternative to traditional Model Predictive Control (MPC), in that the same constrained optimization problem can be addressed without the n…
Model Predictive ControlNonlinear Moving Horizon Estimation and Model Predictive Control for Buildings with Unknown HVAC Dynamics
We present a solution for modeling and online identification for heating, ventilation, and air conditioning (HVAC) control in buildings. Our approach comprises: (a) a resistance-capacitance (RC) model based on first orde…
ManagementModel Predictive ControlState EstimationModel Predictive Control for Signal Temporal Logic Specifications with Time Interval Decomposition
In this paper, we investigate the problem of Model Predictive Control (MPC) of dynamic systems for high-level specifications described by Signal Temporal Logic (STL) formulae. Recent works show that MPC has the great pot…
Computational EfficiencyModel Predictive ControlStability and Robustness of Distributed Suboptimal Model Predictive Control
In distributed model predictive control (MPC), the control input at each sampling time is computed by solving a large-scale optimal control problem (OCP) over a finite horizon using distributed algorithms. Typically, suc…
Model Predictive ControlReal-time Projected Gradient-based Nonlinear Model Predictive Control with an Application to Anesthesia Control
Medical drug infusion problems pose a combination of challenges such as nonlinearities from physiological models, model uncertainty due to inter- and intra-patient variability, as well as strict safety specifications. Wi…
Model Predictive ControlEconomic Potential for Hybrid Electric Vehicles in Urban Signal-free Intersections with Decentralized MPC
The development of electric and connected vehicles as well as automated driving technologies are key towards the smart city, with convenient urban mobility and high energy economy performance. However, the global rise in…
Autonomous VehiclesModel Predictive ControlControl Lyapunov-Barrier Function Based Model Predictive Control for Stochastic Nonlinear Affine Systems
A stochastic model predictive control (MPC) framework is presented in this paper for nonlinear affine systems with stability and feasibility guarantee. We first introduce the concept of stochastic control Lyapunov-barrie…
Model Predictive ControlLearning For Predictive Control: A Dual Gaussian Process Approach
An important issue in model-based control design is that an accurate dynamic model of the system is generally nonlinear, complex, and costly to obtain. This limits achievable control performance in practice. Gaussian pro…
Model Predictive ControlToward Transactive Control of Coupled Electric Power and District Heating Networks
Although electric power networks and district heating networks are physically coupled, they are not operated in a coordinated manner. With increasing penetration of renewable energy sources, a coordinated market-based op…
Model Predictive ControlAutomated Vehicle Highway Merging: Motion Planning via Adaptive Interactive Mixed-Integer MPC
A new motion planning framework for automated highway merging is presented in this paper. To plan the merge and predict the motion of the neighboring vehicle, the ego automated vehicle solves a joint optimization of both…
Model Predictive ControlMotion PlanningLearning safety in model-based Reinforcement Learning using MPC and Gaussian Processes
We propose a method to encourage safety in Model Predictive Control (MPC)-based Reinforcement Learning (RL) via Gaussian Process (GP) regression. This framework consists of 1) a parametric MPC scheme that is employed as …
Gaussian ProcessesModel-based Reinforcement LearningModel Predictive Controlreinforcement-learning+1A Primary Frequency Control Strategy for Variable-Speed Pumped-Storage Plant in Power Generation Based on Adaptive Model Predictive Control
Variable-speed pumped-storage (VSPS) has great potential in helping solve the frequency control problem caused by low inertia, owing to its remarkable flexibility beyond conventional fixed-speed one, to make better use o…
Model Predictive ControlHAVOK Model Predictive Control for Time-Delay Systems with Applications to District Heating
A computationally efficient Model-Predictive Control (MPC) approach is proposed for systems with unknown delay using only input/output data. We use the Koopman operator framework and the related Hankel Alternative View o…
Model Predictive ControlOptimal Inverter-Based Resources Placement in Low-Inertia Power Systems
An increase in the integration of Inverter Based Resources (IBRs) to the electric grid, will lead to a corresponding decrease in the amount of connected synchronous generators, resulting in a decline in the available rot…
Model Predictive Control