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Model Predictive Control (MPC) is among the most widely adopted and reliable methods for robot control, relying critically on an accurate dynamics model. However, existing dynamics models used in the gradient-based MPC are limited by…
In this paper we present a framework for risk-sensitive model predictive control (MPC) of linear systems affected by stochastic multiplicative uncertainty. Our key innovation is to consider a time-consistent, dynamic risk evaluation of the…
A fuel cell system must output a steady voltage as a power source in practical use. A neural network (NN) based model predictive control (MPC) approach is developed in this work to regulate the fuel cell output voltage with safety…
We present a model predictive control (MPC) formulation to directly optimize economic criteria for linear constrained systems subject to disturbances and uncertain model parameters. The proposed formulation combines a certainty equivalent…
Model predictive control (MPC) has become one of the well-established modern control methods for three-phase inverters with an output LC filter, where a high-quality voltage with low total harmonic distortion (THD) is needed. Although it is…
Nonlinear Model Predictive Control (NMPC) is a powerful and widely used technique for nonlinear dynamic process control under constraints. In NMPC, the state and control weights of the corresponding state and control costs are commonly…
The paper considers constrained linear systems with stochastic additive disturbances and noisy measurements transmitted over a lossy communication channel. We propose a model predictive control (MPC) law that minimizes a discounted cost…
This letter presents a new predictive control architecture for high-dimensional robotic systems. As opposed to a conventional Model Predictive Control (MPC) approach to locomotion that formulates a hierarchical sequence of optimization…
Nonlinear Model Predictive Control (NMPC) is a powerful approach for controlling highly dynamic robotic systems, as it accounts for system dynamics and optimizes control inputs at each step. However, its high computational complexity makes…
Networked Control Systems typically come with a limited communication bandwidth and thus require special care when designing the underlying control and triggering law. A method that allows to consider hard constraints on the communication…
As a subfield of network coding, physical-layer network coding (PNC) can effectively enhance the throughput of wireless networks by mapping superimposed signals at receiver to other forms of user messages. Over the past twenty years, PNC…
The growing need for high-performance controllers in safety-critical applications like autonomous driving has been motivating the development of formal safety verification techniques. In this paper, we design and implement a predictive…
This letter proposes a novel random medium access control (MAC) based on a transmission opportunity prediction, which can be measured in a form of a conditional success probability given transmitter-side interference. A transmission…
This work investigates the challenge of ensuring safety guarantees in the presence of uncontrollable agents, whose behaviors are stochastic and depend on both their own and the system's states. We present a neural model predictive control…
We present a framework for vision-based model predictive control (MPC) for the task of aggressive, high-speed autonomous driving. Our approach uses deep convolutional neural networks to predict cost functions from input video which are…
In this paper we propose a stochastic model predictive control (MPC) algorithm for linear discrete-time systems affected by possibly unbounded additive disturbances and subject to probabilistic constraints. Constraints are treated in…
Distributed medium access control (MAC) protocols are essential for the proliferation of low cost, decentralized wireless local area networks (WLANs). Most MAC protocols are designed with the presumption that nodes comply with prescribed…
The integration of advanced control strategies into prosthetic hands is essential to improve their adaptability and performance. In this study, we present an implementation of a Model Predictive Control (MPC) strategy to regulate the…
This paper presents a modified model predictive control (MPC) framework for real-time power system operation. The framework incorporates a diffusion model tailored for time series generation to enhance the accuracy of the load forecasting…
In this paper we present a framework for risk-averse model predictive control (MPC) of linear systems affected by multiplicative uncertainty. Our key innovation is to consider time-consistent, dynamic risk metrics as objective functions to…