Papers Model Predictive Control
“Model Predictive Control” 태그가 달린 논문 1,582편 · 필터 해제
Stochastic Tube-based Model Predictive Control for Cyber-Physical Systems under False Data Injection Attacks with Bounded Probability
This paper addresses the challenge of amplitude-unbounded false data injection (FDI) attacks targeting the sensor-to-controller (S-C) channel in cyber-physical systems (CPSs). We introduce a resilient tube-based model pr…
Model Predictive ControlCoordinated Energy-Trajectory Economic Model Predictive Control for Autonomous Surface Vehicles under Disturbances
The paper proposes a novel Economic Model Predictive Control (EMPC) scheme for Autonomous Surface Vehicles (ASVs) to simultaneously address path following accuracy and energy constraints under environmental disturbances.…
CPUModel Predictive ControlCoordinated Ramp Metering Control based on Scalable Nonlinear Traffic Dynamics Model Discovery in a Large Network
This study proposes a coordinated ramp metering control framework in large networks based on scalable nonlinear traffic dynamics model discovery. Existing coordinated ramp metering control methods often require accurate …
Model DiscoveryModel Predictive ControlCommunity Energy Management System for Fast Frequency Response: A Hierarchical Control Approach
The increase in renewable energy sources (RES) has reduced power system inertia, making frequency stabilization more challenging and highlighting the need for fast frequency response (FFR) resources. While building energ…
energy managementManagementModel Predictive ControlSafe Distributed Learning-Enhanced Predictive Control for Multiple Quadrupedal Robots
Quadrupedal robots exhibit remarkable adaptability in unstructured environments, making them well-suited for formation control in real-world applications. However, keeping stable formations while ensuring collision-free …
Collision AvoidanceModel Predictive ControlLessons learned from field demonstrations of model predictive control and reinforcement learning for residential and commercial HVAC: A review
A large body of simulation research suggests that model predictive control (MPC) and reinforcement learning (RL) for heating, ventilation, and air-conditioning (HVAC) in residential and commercial buildings could reduce …
Model Predictive ControlReinforcement Learning (RL)Multistage Economic MPC for Systems with a Cyclic Steady State: A Gas Network Case Study
Multistage model predictive control (MPC) provides a robust control strategy for dynamic systems with uncertainties and a setpoint tracking objective. Moreover, extending MPC to minimize an economic cost instead of track…
Model Predictive ControlOptimal Policy Design for Repeated Decision-Making under Social Influence
In this paper, we present a novel model to characterize individual tendencies in repeated decision-making scenarios, with the goal of designing model-based control strategies that promote virtuous choices amidst social a…
Decision MakingModel Predictive ControlSEAL: Safety Enhanced Trajectory Planning and Control Framework for Quadrotor Flight in Complex Environments
For quadrotors, achieving safe and autonomous flight in complex environments with wind disturbances and dynamic obstacles still faces significant challenges. Most existing methods address wind disturbances in either traj…
Model Predictive ControlTrajectory PlanningMulti-Step Deep Koopman Network (MDK-Net) for Vehicle Control in Frenet Frame
The highly nonlinear dynamics of vehicles present a major challenge for the practical implementation of optimal and Model Predictive Control (MPC) approaches in path planning and following. Koopman operator theory offers…
Computational EfficiencyModel Predictive ControlOptimal Power Management for Large-Scale Battery Energy Storage Systems via Bayesian Inference
Large-scale battery energy storage systems (BESS) have found ever-increasing use across industry and society to accelerate clean energy transition and improve energy supply reliability and resilience. However, their opti…
Bayesian InferenceManagementModel Predictive Controlparameter estimationDiscrete Codebook World Models for Continuous Control
In reinforcement learning (RL), world models serve as internal simulators, enabling agents to predict environment dynamics and future outcomes in order to make informed decisions. While previous approaches leveraging dis…
continuous-controlContinuous ControlModel Predictive ControlReinforcement Learning (RL)ExAMPC: the Data-Driven Explainable and Approximate NMPC with Physical Insights
Amidst the surge in the use of Artificial Intelligence (AI) for control purposes, classical and model-based control methods maintain their popularity due to their transparency and deterministic nature. However, advanced …
Autonomous RacingModel Predictive ControlSymbolic RegressionA general partitioning strategy for non-centralized control
Partitioning is a fundamental challenge for non-centralized control of large-scale systems, such as hierarchical, decentralized, distributed, and coalitional strategies. The problem consists of finding a decomposition of…
Model Predictive ControlRo-To-Go! Robust Reactive Control with Signal Temporal Logic
Signal Temporal Logic (STL) robustness is a common objective for optimal robot control, but its dependence on history limits the robot's decision-making capabilities when used in Model Predictive Control (MPC) approaches…
Decision MakingModel Predictive ControlOffline Reinforcement Learning via Inverse Optimization
Inspired by the recent successes of Inverse Optimization (IO) across various application domains, we propose a novel offline Reinforcement Learning (ORL) algorithm for continuous state and action spaces, leveraging the c…
Model Predictive ControlMuJoCoreinforcement-learningReinforcement LearningToward 6-DOF Autonomous Underwater Vehicle Energy-Aware Position Control based on Deep Reinforcement Learning: Preliminary Results
The use of autonomous underwater vehicles (AUVs) for surveying, mapping, and inspecting unexplored underwater areas plays a crucial role, where maneuverability and power efficiency are key factors for extending the use o…
Deep Reinforcement LearningModel Predictive ControlPositionLearning-based Model Predictive Control for Passenger-Oriented Train Rescheduling with Flexible Train Composition
This paper focuses on passenger-oriented real-time train rescheduling, considering flexible train composition and rolling stock circulation, by integrating learning-based and optimization-based approaches. A learning-bas…
Model Predictive ControlData-driven Control of T-Product-based Dynamical Systems
Data-driven control is a powerful tool that enables the design and implementation of control strategies directly from data without explicitly identifying the underlying system dynamics. While various data-driven control …
Model Predictive ControlMPPI-DBaS: Safe Trajectory Optimization with Adaptive Exploration
In trajectory optimization, Model Predictive Path Integral (MPPI) control is a sampling-based Model Predictive Control (MPC) framework that generates optimal inputs by efficiently simulating numerous trajectories. In pra…
Model Predictive Control