Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
Pruning deep neural networks generates a sparse, bio-inspired nonlinear controller for insect flight
Insect flight is a strongly nonlinear and actuated dynamical system. As such, strategies for understanding its control have typically relied on either model-based methods or linearizations thereof. Here we develop a fram…
Model Predictive ControlNetwork PruningDeep Learning-based Predictive Control of Battery Management for Frequency Regulation
This paper proposes a deep learning-based optimal battery management scheme for frequency regulation (FR) by integrating model predictive control (MPC), supervised learning (SL), reinforcement learning (RL), and high-fid…
ManagementModel Predictive ControlReinforcement Learning (RL)Adaptive Model Predictive Control of Wheeled Mobile Robots
In this paper, a control algorithm for guiding a two wheeled mobile robot with unknown inertia to a desired point and orientation using an Adaptive Model Predictive Control (AMPC) framework is presented. The two wheeled …
modelModel Predictive ControlSafe Reinforcement Learning with Chance-constrained Model Predictive Control
Real-world reinforcement learning (RL) problems often demand that agents behave safely by obeying a set of designed constraints. We address the challenge of safe RL by coupling a safety guide based on model predictive co…
Model Predictive Controlreinforcement-learningReinforcement LearningReinforcement Learning (RL)+1Data-driven Distributed and Localized Model Predictive Control
Motivated by large-scale but computationally constrained settings, e.g., the Internet of Things, we present a novel data-driven distributed control algorithm that is synthesized directly from trajectory data. Our method,…
modelModel Predictive ControlLearning Based Model Predictive Control for Quadcopters with Dual Gaussian Process
An important issue in quadcopter control is that an accurate dynamic model of the system is nonlinear, complex, and costly to obtain. This limits achievable control performance in practice. Gaussian process (GP) based es…
Model Predictive ControlPrivacy-Preserving Nonlinear Cloud-based Model Predictive Control via Affine Masking
With the advent of 5G technology that presents enhanced communication reliability and ultra low latency, there is renewed interest in employing cloud computing to perform high performance but computationally expensive co…
Cloud ComputingModel Predictive ControlPrivacy PreservingModel predictive control guided with optimal experimental design for pulse-based parallel cultivation
Optimal experimental design for parameter precision attempts to maximize the information content in experimental data for a most effective identification of parametric model. With the recent developments in miniaturizati…
Experimental DesignModel Predictive ControlResilient Branching MPC for Multi-Vehicle Traffic Scenarios Using Adversarial Disturbance Sequences
An approach to resilient planning and control of autonomous vehicles in multi-vehicle traffic scenarios is proposed. The proposed method is based on model predictive control (MPC), where alternative predictions of the su…
Autonomous VehiclesModel Predictive ControlInteraction-Aware Trajectory Prediction and Planning for Autonomous Vehicles in Forced Merge Scenarios
Merging is, in general, a challenging task for both human drivers and autonomous vehicles, especially in dense traffic, because the merging vehicle typically needs to interact with other vehicles to identify or create a …
Autonomous VehiclesModel Predictive ControlTrajectory PredictionExperimental Data-Driven Model Predictive Control of a Hospital HVAC System During Regular Use
Herein we report a multi-zone, heating, ventilation and air-conditioning (HVAC) control case study of an industrial plant responsible for cooling a hospital surgery center. The adopted approach to guaranteeing thermal co…
Gaussian ProcessesModel Predictive ControlComposing MPC with LQR and Neural Network for Amortized Efficiency and Stable Control
Model predictive control (MPC) is a powerful control method that handles dynamical systems with constraints. However, solving MPC iteratively in real time, i.e., implicit MPC, remains a computational challenge. To addres…
Computational EfficiencyModel Predictive ControlKnowledge-based optimal irrigation scheduling of agro-hydrological systems
The typical agricultural irrigation scheduler provides information on how much to irrigate and when to irrigate. The accurate and effective scheduler decision for a large agricultural field is still an open research prob…
Model Predictive ControlSchedulingLSTM-based model predictive control with discrete inputs for irrigation scheduling
The development of well-devised irrigation scheduling methods is desirable from the perspectives of plant quality and water conservation. In this article, a model predictive control (MPC) with discrete actuators is devel…
Computational EfficiencyModel Predictive ControlSchedulingParallelized Robust Distributed Model Predictive Control in the Presence of Coupled State Constraints
In this paper, we present a robust distributed model predictive control (DMPC) scheme for dynamically decoupled nonlinear systems which are subject to state constraints, coupled state constraints and input constraints. I…
Model Predictive ControlEconomic MPC-based planning for marine vehicles: Tuning safety and energy efficiency
Energy efficiency and safety are two critical objectives for marine vehicles operating in environments with obstacles, and they generally conflict with each other. In this paper, we propose a novel online motion planning…
Model Predictive ControlMotion PlanningData-driven tube-based stochastic predictive control
A powerful result from behavioral systems theory known as the fundamental lemma allows for predictive control akin to Model Predictive Control (MPC) for linear time invariant (LTI) systems with unknown dynamics purely fr…
LEMMAModel Predictive ControlPolicy Search for Model Predictive Control with Application to Agile Drone Flight
Policy Search and Model Predictive Control~(MPC) are two different paradigms for robot control: policy search has the strength of automatically learning complex policies using experienced data, while MPC can offer optima…
Model Predictive ControlSecure learning-based MPC via garbled circuit
Encrypted control seeks confidential controller evaluation in cloud-based or networked systems. Many existing approaches build on homomorphic encryption (HE) that allow simple mathematical operations to be carried out on…
Model Predictive ControlGlobal Convergence of Online Optimization for Nonlinear Model Predictive Control
We study a real-time iteration (RTI) scheme for solving online optimization problem appeared in nonlinear optimal control. The proposed RTI scheme modifies the existing RTI-based model predictive control (MPC) algorithm,…
Model Predictive Control