Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
Disturbance-adaptive Model Predictive Control for Bounded Average Constraint Violations
This paper considers stochastic linear time-invariant systems subject to constraints on the average number of state-constraint violations over time without knowing the disturbance distribution. We present a novel disturb…
Conformal PredictionModel Predictive ControlAn ANN-Enhanced Approach for Flatness-Based Constrained Control of Nonlinear Systems
Neural networks have proven practical for a synergistic combination of advanced control techniques. This work analyzes the implementation of rectified linear unit neural networks to achieve constrained control in differe…
Model Predictive ControlDistributed Model Predictive Control for Dynamic Cooperation of Multi-Agent Systems
We propose a distributed model predictive control (MPC) framework for coordinating heterogeneous, nonlinear multi-agent systems under individual and coupling constraints. The cooperative task is encoded as a shared objec…
Model Predictive ControlOutput-feedback model predictive control under dynamic uncertainties using integral quadratic constraints
In this work, we propose an output-feedback tube-based model predictive control (MPC) scheme for linear systems under dynamic uncertainties that are described via integral quadratic constraints (IQC). By leveraging IQCs,…
Model Predictive ControlIntent-Aware MPC for Aircraft Detect-and-Avoid with Response Delay: A Comparative Study with ACAS Xu
In this paper, we propose an intent-aware Model Predictive Control (MPC) approach for the remain-well-clear (RWC) functionality of a multi-agent aircraft detect-and-avoid (DAA) system and compare its performance with the…
Collision AvoidanceModel Predictive ControlMulti-stage model predictive control for slug flow crystallizers using uncertainty-aware surrogate models
This paper presents a novel dynamic model for slug flow crystallizers that addresses the challenges of spatial distribution without backmixing or diffusion, potentially enabling advanced model-based control. The develope…
Model Predictive Controlquantile regressionUncertainty QuantificationTowards explainable data-driven predictive control with regularizations
Data-driven predictive control (DPC), using linear combinations of recorded trajectory data, has recently emerged as a popular alternative to traditional model predictive control (MPC). Without an explicitly enforced pre…
Model Predictive ControlModel-free Vehicle Rollover Prevention: A Data-driven Predictive Control Approach
Vehicle rollovers pose a significant safety risk and account for a disproportionately high number of fatalities in road accidents. This paper addresses the challenge of rollover prevention using Data-EnablEd Predictive C…
Computational EfficiencyDimensionality ReductionModel Predictive ControlModel Predictive Control for Tracking Bounded References With Arbitrary Dynamics
In this article, a model predictive control (MPC) method is proposed for constrained linear systems to track bounded references with arbitrary dynamics. Besides control inputs to be determined, artificial reference is in…
Model Predictive ControlEvent-Triggered Nonlinear Model Predictive Control for Cooperative Cable-Suspended Payload Transportation with Multi-Quadrotors
Autonomous Micro Aerial Vehicles (MAVs), particularly quadrotors, have shown significant potential in assisting humans with tasks such as construction and package delivery. These applications benefit greatly from the use…
Model Predictive ControlOptimal Path Planning and Cost Minimization for a Drone Delivery System Via Model Predictive Control
In this study, we formulate the drone delivery problem as a control problem and solve it using Model Predictive Control. Two experiments are performed: The first is on a less challenging grid world environment with lower…
Model Predictive ControlMulti-agent Reinforcement LearningNavigateQ-LearningOptimal Safe Sequencing and Motion Control for Mixed Traffic Roundabouts
This paper develops an Optimal Safe Sequencing (OSS) control framework for Connected and Automated Vehicles (CAVs) navigating a single-lane roundabout in mixed traffic, where both CAVs and Human-Driven Vehicles (HDVs) co…
Model Predictive ControlIterative Learning Predictive Control for Constrained Uncertain Systems
Iterative learning control (ILC) improves the performance of a repetitive system by learning from previous trials. ILC can be combined with Model Predictive Control (MPC) to mitigate non-repetitive disturbances, thus imp…
Model Predictive ControlBridging the Sim-to-real Gap: A Control Framework for Imitation Learning of Model Predictive Control
To address the computational challenges of Model Predictive Control (MPC), recent research has studied on using Deep Neural Networks (DNNs) trained through imitation learning to approximate the MPC. However, this introdu…
Imitation LearningModel Predictive ControlBootstrapped Model Predictive Control
Model Predictive Control (MPC) has been demonstrated to be effective in continuous control tasks. When a world model and a value function are available, planning a sequence of actions ahead of time leads to a better poli…
continuous-controlContinuous ControlImitation Learningmodel+1Robust Tube-based Control Strategy for Vision-guided Autonomous Vehicles
A robust control strategy for autonomous vehicles can improve system stability, enhance riding comfort, and prevent driving accidents. This paper presents a novel interpolation tube-based constrained iterative linear qua…
Autonomous VehiclesModel Predictive ControlConstraint Horizon in Model Predictive Control
In this work, we propose a Model Predictive Control (MPC) formulation incorporating two distinct horizons: a prediction horizon and a constraint horizon. This approach enables a deeper understanding of how constraints in…
modelModel Predictive ControlPredictionQSID-MPC: Model Predictive Control with System Identification from Quantized Data
Least-square system identification is widely used for data-driven model-predictive control (MPC) of unknown or partially known systems. This letter investigates how the system identification and subsequent MPC is affecte…
Model Predictive ControlQuantizationAdaptive Koopman Model Predictive Control of Simple Serial Robots
Approximating nonlinear systems as linear ones is a common workaround to apply control tools tailored for linear systems. This motivates our present work where we developed a data-driven model predictive controller (MPC)…
Model Predictive ControlAn AI-enabled dual-hormone model predictive control algorithm that delivers insulin and pramlintide
Current closed-loop insulin delivery algorithms need to be informed of carbohydrate intake disturbances. This can be a burden on people using these systems. Pramlintide is a hormone that delays gastric emptying, which en…
Model Predictive Control