Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
Risk-Averse Model Predictive Control for Priced Timed Automata
In this paper, we propose a Risk-Averse Priced Timed Automata (PTA) Model Predictive Control (MPC) framework to increase flexibility of cyber-physical systems. To improve flexibility in these systems, our risk-averse fra…
Decision MakingModel Predictive ControlActive Exploration for Robotic Manipulation
Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation is the exploration of the dynamics of the…
Model-based Reinforcement LearningModel Predictive ControlActive Learning of Discrete-Time Dynamics for Uncertainty-Aware Model Predictive Control
Model-based control requires an accurate model of the system dynamics for precisely and safely controlling the robot in complex and dynamic environments. Moreover, in the presence of variations in the operating condition…
Active LearningModel Predictive ControlSelf-Supervised LearningRGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control
We present a system for collision-free control of a robot manipulator that uses only RGB views of the world. Perceptual input of a tabletop scene is provided by multiple images of an RGB camera (without depth) that is ei…
3D geometryModel Predictive ControlNeRFConditional Diffusion with Less Explicit Guidance via Model Predictive Control
How much explicit guidance is necessary for conditional diffusion? We consider the problem of conditional sampling using an unconditional diffusion model and limited explicit guidance (e.g., a noised classifier, or a con…
Model Predictive ControlModel Predictive Vehicle Yaw Stability Control via Integrated Active Front Wheel Steering and Individual Braking
Vehicle stability control systems are important components of active safety systems for road transport. The problem of vehicle lateral stability control is addressed in this paper using active front wheel steering and in…
Model Predictive ControlDistributed MPC for Self-Organized Cooperation of Multiagent Systems -- Extended Version
We present a sequential distributed model predictive control (MPC) scheme for cooperative control of multi-agent systems with dynamically decoupled heterogeneous nonlinear agents subject to individual constraints. In the…
Distributed OptimizationModel Predictive ControlModel Predictive Control via On-Policy Imitation Learning
In this paper, we leverage the rapid advances in imitation learning, a topic of intense recent focus in the Reinforcement Learning (RL) literature, to develop new sample complexity results and performance guarantees for …
Imitation LearningmodelModel Predictive ControlReinforcement Learning (RL)A real-time GP based MPC for quadcopters with unknown disturbances
Gaussian Process (GP) regressions have proven to be a valuable tool to predict disturbances and model mismatches and incorporate this information into a Model Predictive Control (MPC) prediction. Unfortunately, the compu…
Model Predictive ControlRaspberry Pi 4Robust offset-free nonlinear model predictive control for systems learned by neural nonlinear autoregressive exogenous models
This paper presents a robust Model Predictive Control (MPC) scheme that provides offset-free setpoint tracking for systems described by Neural Nonlinear AutoRegressive eXogenous (NNARX) models. The NNARX model learns the…
Model Predictive ControlEquivalence of Optimality Criteria for Markov Decision Process and Model Predictive Control
This paper shows that the optimal policy and value functions of a Markov Decision Process (MDP), either discounted or not, can be captured by a finite-horizon undiscounted Optimal Control Problem (OCP), even if based on …
Model Predictive Controlreinforcement-learningReinforcement Learning (RL)Inferring Smooth Control: Monte Carlo Posterior Policy Iteration with Gaussian Processes
Monte Carlo methods have become increasingly relevant for control of non-differentiable systems, approximate dynamics models and learning from data. These methods scale to high-dimensional spaces and are effective at the…
Gaussian ProcessesModel Predictive ControlMotion PlanningRobust tube-based LPV-MPC for autonomous lane keeping
This paper proposes a control architecture for autonomous lane keeping by a vehicle. In this paper, the vehicle dynamics consist of two parts: lateral and longitudinal dynamics. Therefore, the control architecture compri…
Model Predictive ControlSchedulingSafety-based Speed Control of a Wheelchair using Robust Adaptive Model Predictive Control
Electric-powered wheelchair plays an important role in providing accessibility for people with mobility impairment. Ensuring the safety of wheelchair operation in different application scenarios and for diverse users is …
Model Predictive ControlModel Reference Gaussian Process Regression: Data-Driven Output Feedback Controller
Data-driven controls using Gaussian process regression have recently gained much attention. In such approaches, system identification by Gaussian process regression is mostly followed by model-based controller designs. H…
Model Predictive ControlregressionHandling Sparse Rewards in Reinforcement Learning Using Model Predictive Control
Reinforcement learning (RL) has recently proven great success in various domains. Yet, the design of the reward function requires detailed domain expertise and tedious fine-tuning to ensure that agents are able to learn …
Model Predictive Controlreinforcement-learningReinforcement LearningReinforcement Learning (RL)+1Optimal Weight Adaptation of Model Predictive Control for Connected and Automated Vehicles in Mixed Traffic with Bayesian Optimization
In this paper, we develop an optimal weight adaptation strategy of model predictive control (MPC) for connected and automated vehicles (CAVs) in mixed traffic. We model the interaction between a CAV and a human-driven ve…
Bayesian OptimizationModel Predictive ControlSelf-Tuning Tube-based Model Predictive Control
We present Self-Tuning Tube-based Model Predictive Control (STT-MPC), an adaptive robust control algorithm for uncertain linear systems with additive disturbances based on the least-squares estimator and polytopic tubes.…
modelModel Predictive ControlAn Economic Model Predictive Control Approach for Load Mitigation on Multiple Tower Locations of Wind Turbines
The current trend in the evolution of wind turbines is to increase their rotor size in order to capture more power. This leads to taller, slender and more flexible towers, which thus experience higher dynamical loads due…
Model Predictive ControlSwitched-Actuator Systems with Setup Times: Efficient Modeling, MPC, and Application to Hyperthermia Therapy
Switched-actuator systems with setup times (SAcSSs) are systems in which the actuator configuration has to be switched during operation, and where the switching induces non-negligible actuator downtime. Optimally control…
continuous-controlContinuous ControlModel Predictive Control