Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
Station-keeping of $L_2$ halo orbits under sampled-data model predictive control
The paper deals with the design of an improved model predictive control scheme for achieving station-keeping in a quasi Halo orbit around the $L_2$ point in the Earth-Moon system. The improvement is obtained thanks to a …
Model Predictive ControlHierarchical MPC for coupled subsystems using adjustable tubes
A hierarchical Model Predictive Control (MPC) formulation is presented for coupled discrete-time linear systems with state and input constraints. Compared to a centralized approach, a two-level hierarchical controller, w…
Model Predictive ControlA Pricing Rule for Third-Party Platoon Coordination Service Provider
We model a platooning system including trucks and a third-party service provider that performs platoon coordination, distributes the platooning profit within platoons, and charges the trucks in exchange for its services.…
Model Predictive ControlEvent-Triggered Distributed Model Predictive Control for Platoon Coordination at Hubs in a Transport System
This paper considers the problem of hub-based platoon coordination for a large-scale transport system, where trucks have individual utility functions to optimize. An event-triggered distributed model predictive control m…
Model Predictive ControlSchedulingActive Uncertainty Reduction for Human-Robot Interaction: An Implicit Dual Control Approach
The ability to accurately predict human behavior is central to the safety and efficiency of robot autonomy in interactive settings. Unfortunately, robots often lack access to key information on which these predictions ma…
Model Predictive ControlMotion PlanningSteady-State Error Compensation in Reference Tracking and Disturbance Rejection Problems for Reinforcement Learning-Based Control
Reinforcement learning (RL) is a promising, upcoming topic in automatic control applications. Where classical control approaches require a priori system knowledge, data-driven control approaches like RL allow a model-fre…
Model Predictive ControlReinforcement Learning (RL)A Safe Control Architecture Based on a Model Predictive Control Supervisor for Autonomous Driving
This paper presents a novel, safe control architecture (SCA) for controlling an important class of systems: safety-critical systems. Ensuring the safety of control decisions has always been a challenge in automatic contr…
Autonomous DrivingModel Predictive ControlThe Challenges of Exploration for Offline Reinforcement Learning
Offline Reinforcement Learning (ORL) enablesus to separately study the two interlinked processes of reinforcement learning: collecting informative experience and inferring optimal behaviour. The second step has been wide…
Model Predictive ControlOffline RLreinforcement-learningReinforcement Learning+1Distributed Stochastic Model Predictive Control for Human-Leading Heavy-Duty Truck Platoon
Human-leading truck platooning systems have been proposed to leverage the benefits of both human supervision and vehicle autonomy. Equipped with human guidance and autonomous technology, human-leading truck platooning sy…
Model Predictive ControlA Cooperation-Aware Lane Change Method for Autonomous Vehicles
Lane change for autonomous vehicles (AVs) is an important but challenging task in complex dynamic traffic environments. Due to difficulties in guarantee safety as well as a high efficiency, AVs are inclined to choose rel…
Autonomous VehiclesModel Predictive ControlMotion PlanningTrajectory PredictionImplementation of Advanced Wind Turbine Controllers for Scaled Turbine Testing in a Wind Tunnel
Based on a series of two experimental campaigns testing advanced controllers on a scaled wind turbine operating in a wind tunnel, this contribution describes the overall experimental method, challenges faced, lessons lea…
Model Predictive ControlReconfiguration of a satellite constellation in circular formation orbit with decentralized model predictive control
Satellite constellation missions, consisting of a large number of spacecraft, are increasingly being launched or planned. Such missions require novel control approaches, in particular for what concerns orbital phasing ma…
Model Predictive ControlRHONN Modelling-enabled Nonlinear Predictive Control for Lateral Dynamics Stabilization of An In-wheel Motor Driven Vehicle
Featuring the fast response and flexibility in control allocation, an electric vehicle with in-wheel motors is a good platform for implementing advanced vehicle dynamics control. Among many active safety functions of an …
Model Predictive ControlUncertainty-Cognizant Model Predictive Control for Energy Management of Residential Buildings with PVT and Thermal Energy Storage
The building sector accounts for almost 40 percent of the global energy consumption. This reveals a great opportunity to exploit renewable energy resources in buildings to achieve the climate target. In this context, thi…
energy managementManagementModel Predictive ControlDistributed Stochastic Model Predictive Control for an Urban Traffic Network
In this paper, we design a stochastic Model Predictive Control (MPC) traffic signal control method for an urban traffic network when the uncertainties in the estimation of the exogenous (in/out)-flows and the turning rat…
Model Predictive ControlTraffic Signal ControlSafe-by-Design Planner-Tracker Synthesis
We present a safe-by-design trajectory planning and tracking framework for nonlinear dynamical systems using a hierarchy of system models. The planning layer uses a low-fidelity model to plan a feasible trajectory satisf…
Model Predictive ControlTrajectory PlanningEmbedded Model Predictive Control Using Robust Penalty Method
Model predictive control (MPC) has become a hot cake technology for various applications due to its ability to handle multi-input multi-output systems with physical constraints. The optimization solvers require considera…
Model Predictive ControlRisk Bounded Nonlinear Robot Motion Planning With Integrated Perception & Control
Robust autonomy stacks require tight integration of perception, motion planning, and control layers, but these layers often inadequately incorporate inherent perception and prediction uncertainties, either ignoring them …
Model Predictive ControlMotion PlanningSensitivity-based dynamic performance assessment for model predictive control with Gaussian noise
Economic model predictive control and tracking model predictive control are two popular advanced process control strategies used in various of fields. Nevertheless, which one should be chosen to achieve better performanc…
Model Predictive ControlSensitivityRobust economic MPC of the absorption column in post-combustion carbon capture through zone tracking
Several studies have reported the importance of optimally operating the absorption column in a post-combustion CO2 capture (PCC) plant. It has been demonstrated in our previous work how economic Model Predictive Control …
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