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This paper proposes Mode-Aware Probabilistic Scheduling (MAPS), a novel adaptive control framework tailored for DC motor systems experiencing varying friction. MAPS uniquely integrates an Interacting Multiple Model (IMM) estimator with a…
Cloud computing creates new possibilities for control applications by offering powerful computation and storage capabilities. In this paper, we propose a novel cloud-assisted model predictive control (MPC) framework in which we…
We present a nonlinear model predictive control (MPC) scheme for tracking of dynamic target signals. The scheme combines stabilization and dynamic trajectory planning in one layer, thus ensuring constraint satisfaction irrespective of…
A stochastic model predictive control (SMPC) approach is presented for discrete-time linear systems with arbitrary time-invariant probabilistic uncertainties and additive Gaussian process noise. Closed-loop stability of the SMPC approach is…
The recent increase in data availability and reliability has led to a surge in the development of learning-based model predictive control (MPC) frameworks for robot systems. Despite attaining substantial performance improvements over their…
We propose a robust model predictive control (MPC) method for discrete-time linear time-invariant systems with norm-bounded additive disturbances and model uncertainty. In our method, at each time step we solve a finite time robust optimal…
We propose a new computational framework that combines the recently developed time-parallel (TP) and the compound wavelet matrix (CWM) methods. The framework, termed tpCWM, offers significant computational acceleration by making…
Reference tracking and obstacle avoidance rank among the foremost challenging aspects of autonomous driving. This paper proposes control designs for solving reference tracking problems in autonomous driving tasks while considering static…
Iteration limited model predictive control (MPC) can stabilize a feedback control system under sufficient conditions; this work explores combining a low iteration limit MPC with a high iteration limit MPC for mixed-integer quadratic…
This paper is about robust Model Predictive Control (MPC) for linear systems with additive and multiplicative uncertainty. A novel class of configuration-constrained polytopic robust forward invariant tubes is introduced, which admit a…
The current context of launchers reusability requires the improvement of control algorithms for their liquid-propellant rocket engines. Their transient phases are generally still performed in open loop. In this paper, it is aimed at…
Model predictive control (MPC) is a powerful control method that allows to directly include state and input constraints into the controller design. However, errors in the model, e.g., caused by unknown disturbances, can lead to constraint…
This paper proposes a new sampling-based nonlinear model predictive control (MPC) algorithm, with a bound on complexity quadratic in the prediction horizon N and linear in the number of samples. The idea of the proposed algorithm is to use…
We present a robust model predictive control method (MPC) for discrete-time linear time-delayed systems with state and control input constraints. The system is subject to both polytopic model uncertainty and additive disturbances. In the…
In this paper, we propose an adaptive data-driven min-max model predictive control (MPC) scheme for discrete-time linear time-varying (LTV) systems. We assume that prior knowledge of the system dynamics and bounds on the variations are…
We present an optimization-based approach for trajectory planning and control of a maneuverable melting probe with a high number of binary control variables. The dynamics of the system are modeled by a set of ordinary differential equations…
Model Predictive Control (MPC) is a common tool for the control of nonlinear, real-world systems, such as legged robots. However, solving MPC quickly enough to enable its use in real-time is often challenging. One common solution is given…
We consider the problem of bridging the gap between geometric tracking control theory and implementation of model predictive control (MPC) for robotic systems operating on manifolds. We propose a generic on-manifold MPC formulation based on…
Sampling-based model predictive control (MPC) offers strong performance in nonlinear and contact-rich robotic tasks, yet often suffers from poor exploration due to locally greedy sampling schemes. We propose \emph{Model Tensor Planning}…
A new adaptive predictive controller for constrained linear systems is presented. The main feature of the proposed controller is the partition of the input in two components. The first part is used to persistently excite the system, in…