Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
Stabilizing NMPC Approaches for Underactuated Mechanical Systems on the SE(3) Manifold
This paper addresses the motion control problem for underactuated mechanical systems with full attitude control and one translational force input to manage the six degrees of freedom involved in the three-dimensional Euc…
Model Predictive ControlParallel Domain-Decomposition Algorithms for Complexity Certification of Branch-and-Bound Algorithms for Mixed-Integer Linear and Quadratic Programming
When implementing model predictive control (MPC) for hybrid systems with a linear or a quadratic performance measure, a mixed-integer linear program (MILP) or a mixed-integer quadratic program (MIQP) needs to be solved, …
Model Predictive ControlA Unifying Complexity-Certification Framework for Branch-and-Bound Algorithms for Mixed-Integer Linear and Quadratic Programming
In model predictive control (MPC) for hybrid systems, solving optimization problems efficiently and with guarantees on worst-case computational complexity is critical to satisfy the real-time constraints in these applica…
Model Predictive ControlExploiting Prior Knowledge in Preferential Learning of Individualized Autonomous Vehicle Driving Styles
Trajectory planning for automated vehicles commonly employs optimization over a moving horizon - Model Predictive Control - where the cost function critically influences the resulting driving style. However, finding a su…
Bayesian OptimizationModel Predictive ControlTrajectory PlanningPriority-driven Constraints Softening in Safe MPC for Perturbed Systems
This paper presents a safe model predictive control (SMPC) framework designed to ensure the satisfaction of hard constraints for systems perturbed by an external disturbance. Such safety guarantees are ensured, despite t…
Collision AvoidanceModel Predictive ControlDiffusion-Based Forecasting for Uncertainty-Aware Model Predictive Control
We propose Diffusion-Informed Model Predictive Control (D-I MPC), a generic framework for uncertainty-aware prediction and decision-making in partially observable stochastic systems by integrating diffusion-based time se…
Decision MakingModel Predictive ControlTime SeriesTime Series ForecastingVariable Time-Step MPC for Agile Multi-Rotor UAV Interception of Dynamic Targets
Agile trajectory planning can improve the efficiency of multi-rotor Uncrewed Aerial Vehicles (UAVs) in scenarios with combined task-oriented and kinematic trajectory planning, such as monitoring spatio-temporal phenomena…
Model Predictive ControlTrajectory PlanningLocal-Global Learning of Interpretable Control Policies: The Interface between MPC and Reinforcement Learning
Making optimal decisions under uncertainty is a shared problem among distinct fields. While optimal control is commonly studied in the framework of dynamic programming, it is approached with differing perspectives of the…
Decision MakingDecision Making Under UncertaintyModel Predictive ControlLayered Nonlinear Model Predictive Control for Robust Stabilization of Hybrid Systems
Computing the receding horizon optimal control of nonlinear hybrid systems is typically prohibitively slow, limiting real-time implementation. To address this challenge, we propose a layered Model Predictive Control (MPC…
Model Predictive ControlEnsemble Kalman-Bucy filtering for nonlinear model predictive control
We consider the problem of optimal control for partially observed dynamical systems. Despite its prevalence in practical applications, there are still very few algorithms available, which take uncertainties in the curren…
Model Predictive ControlState EstimationDiffusion Dynamics Models with Generative State Estimation for Cloth Manipulation
Manipulating deformable objects like cloth is challenging due to their complex dynamics, near-infinite degrees of freedom, and frequent self-occlusions, which complicate state estimation and dynamics modeling. Prior work…
Model Predictive ControlState EstimationSix-DoF Stewart Platform Motion Simulator Control using Switchable Model Predictive Control
Due to excellent mechanism characteristics of high rigidity, maneuverability and strength-to-weight ratio, 6 Degree-of-Freedom (DoF) Stewart structure is widely adopted to construct flight simulator platforms for replica…
Model Predictive ControlLearning-Based MPC for Fuel Efficient Control of Autonomous Vehicles with Discrete Gear Selection
Co-optimization of both vehicle speed and gear position via model predictive control (MPC) has been shown to offer benefits for fuel-efficient autonomous driving. However, optimizing both the vehicle's continuous dynamic…
Autonomous DrivingAutonomous VehiclesModel Predictive ControlPositionRobust Model Predictive Control of Fast Lithium-ion Battery Pretreatment for Safe Recycling
The proper disposal and repurposing of end-of-life electric vehicle batteries are critical for maximizing their environmental benefits. This study introduces a robust model predictive control (MPC) framework designed to …
Model Predictive ControlA nonlinear real time capable motion cueing algorithm based on deep reinforcement learning
In motion simulation, motion cueing algorithms are used for the trajectory planning of the motion simulator platform, where workspace limitations prevent direct reproduction of reference trajectories. Strategies such as …
Deep Reinforcement LearningHyperparameter OptimizationModel Predictive ControlTrajectory PlanningAdaptive model predictive control for traffic signal timing with unknown demand and parameters
This paper designs traffic signal control policies for a network of signalized intersections without knowing the demand and parameters. Within a model predictive control (MPC) framework, control policies consist of an al…
Model Predictive ControlTraffic Signal ControlA Model-based Approach for Glucose Control via Physical Activity
The role played by physical activity in slowing down the progression of type-2 diabetes is well recognized. However, except for general clinical guidelines, quantitative real-time estimates of the recommended amount of p…
Model Predictive ControlStochastic Model Predictive Control for Sub-Gaussian Noise
We propose a stochastic Model Predictive Control (MPC) framework that ensures closed-loop chance constraint satisfaction for linear systems with general sub-Gaussian process and measurement noise. By considering sub-Gaus…
modelModel Predictive ControlOptimizing AUV speed dynamics with a data-driven Koopman operator approach
Autonomous Underwater Vehicles (AUVs) play an essential role in modern ocean exploration, and their speed control systems are fundamental to their efficient operation. Like many other robotic systems, AUVs exhibit multiv…
Model Predictive ControlPerformance-driven Constrained Optimal Auto-Tuner for MPC
A key challenge in tuning Model Predictive Control (MPC) cost function parameters is to ensure that the system performance stays consistently above a certain threshold. To address this challenge, we propose a novel metho…
Autonomous RacingBayesian OptimizationModel Predictive Control