Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
Reducing the Communication of Distributed Model Predictive Control: Autoencoders and Formation Control
Communication remains a key factor limiting the applicability of distributed model predictive control (DMPC) in realistic settings, despite advances in wireless communication. DMPC schemes can require an overwhelming amo…
Distributed OptimizationModel Predictive ControlReal-Time Model Predictive Control for the Swing-Up Problem of an Underactuated Double Pendulum
The 3rd AI Olympics with RealAIGym competition poses the challenge of developing a global policy that can swing up and stabilize an underactuated 2-link system Acrobot and/or Pendubot from any configuration in the state …
AcrobotModel Predictive ControlBilinear Data-Driven Min-Max MPC: Designing Rational Controllers via Sum-of-squares Optimization
We propose a data-driven min-max model predictive control (MPC) scheme to control unknown discrete-time bilinear systems. Based on a sequence of noisy input-state data, we state a set-membership representation for the un…
Model Predictive ControlConformal Data-driven Control of Stochastic Multi-Agent Systems under Collaborative Signal Temporal Logic Specifications
We study the control of stochastic discrete-time linear multi-agent systems (MAS) subject to additive stochastic noise and collaborative signal temporal logic (STL) specifications to be satisfied with a desired probabili…
Conformal PredictionModel Predictive ControlLearning Flatness-Preserving Residuals for Pure-Feedback Systems
We study residual dynamics learning for differentially flat systems, where a nominal model is augmented with a learned correction term from data. A key challenge is that generic residual parameterizations may destroy fla…
Model Predictive ControlPersistently Exciting Data-Driven Model Predictive Control
Persistence of excitation (PE) of the system input is a fundamental requirement for the successful operation of data-driven model predictive control, as it ensures that the input--output data contains sufficient informat…
modelModel Predictive ControlModel Predictive Building Climate Control for Mitigating Heat Pump Noise Pollution (Extended Version)
Noise pollution from heat pumps (HPs) has been an emerging concern to their broader adoption, especially in densely populated areas. This paper explores a model predictive control (MPC) approach for building climate cont…
Model Predictive ControlEnergy Aware and Safe Path Planning for Unmanned Aircraft Systems
This paper proposes a path planning algorithm for multi-agent unmanned aircraft systems (UASs) to autonomously cover a search area, while considering obstacle avoidance, as well as the capabilities and energy consumption…
Model Predictive ControlTaming High-Dimensional Dynamics: Learning Optimal Projections onto Spectral Submanifolds
High-dimensional nonlinear systems pose considerable challenges for modeling and control across many domains, from fluid mechanics to advanced robotics. Such systems are typically approximated with reduced order models, …
Model Predictive ControlLearning-Based Conformal Tube MPC for Safe Control in Interactive Multi-Agent Systems
Safety assurance in multi-agent systems with coupled dynamics is a fundamental yet challenging problem, especially when agents exhibit uncertain and state-dependent behaviors. Classical robust control often assumes worst…
Conformal PredictionModel Predictive ControlBayesian LSTM for indoor temperature modeling
Improving energy efficiency of building heating systems is essential for reducing global energy consumption and greenhouse gas emissions. Traditional control methods in buildings rely on static heating curves based solel…
Model Predictive ControlUncertainty QuantificationQuattro: Transformer-Accelerated Iterative Linear Quadratic Regulator Framework for Fast Trajectory Optimization
Real-time optimal control remains a fundamental challenge in robotics, especially for nonlinear systems with stringent performance requirements. As one of the representative trajectory optimization algorithms, the iterat…
GPUModel Predictive ControlSystem Level Synthesis for Affine Control Policies: Model Based and Data-Driven Settings
There is an increasing need for effective control of systems with complex dynamics, particularly through data-driven approaches. System Level Synthesis (SLS) has emerged as a powerful framework that facilitates the contr…
Model Predictive ControlLearning-Based Approximate Nonlinear Model Predictive Control Motion Cueing
Motion Cueing Algorithms (MCAs) encode the movement of simulated vehicles into movement that can be reproduced with a motion simulator to provide a realistic driving experience within the capabilities of the machine. Thi…
Computational EfficiencyModel Predictive ControlMPCritic: A plug-and-play MPC architecture for reinforcement learning
The reinforcement learning (RL) and model predictive control (MPC) communities have developed vast ecosystems of theoretical approaches and computational tools for solving optimal control problems. Given their conceptual…
Model Predictive ControlReinforcement Learning (RL)Semi-Data-Driven Model Predictive Control: A Physics-Informed Data-Driven Control Approach
Data-enabled predictive control (DeePC) has emerged as a powerful technique to control complex systems without the need for extensive modeling efforts. However, relying solely on offline collected data trajectories to re…
Model Predictive ControlReinforcement learning for robust dynamic metabolic control
Dynamic metabolic control can enhance bioprocess flexibility and expand the available optimization degrees of freedom via real-time modulation of metabolic enzyme expression. This allows target metabolic fluxes to be dyn…
Model Predictive Controlreinforcement-learningReinforcement LearningStochastic Model Predictive Control of Charging Energy Hubs with Conformal Prediction
This paper presents an online energy management system for an energy hub where electric vehicles are charged combining on-site photovoltaic generation and battery energy storage with the power grid, with the objective to…
Conformal Predictionenergy managementModel Predictive ControlUncertainty QuantificationProbabilistically safe and efficient model-based Reinforcement Learning
This paper proposes tackling safety-critical stochastic Reinforcement Learning (RL) tasks with a samplebased, model-based approach. At the core of the method lies a Model Predictive Control (MPC) scheme that acts as func…
Model-based Reinforcement LearningModel Predictive Controlreinforcement-learningReinforcement Learning+1Deep Learning Model Predictive Control for Deep Brain Stimulation in Parkinson's Disease
We present a nonlinear data-driven Model Predictive Control (MPC) algorithm for deep brain stimulation (DBS) for the treatment of Parkinson's disease (PD). Although DBS is typically implemented in open-loop, closed-loop …
Model Predictive Control