Related papers: Reduced Order Model Predictive Control For Setpoin…
Many popular approaches in the field of robust model predictive control (MPC) are based on nominal predictions. This paper presents a novel formulation of this class of controller with proven input-to-state stability and robust constraint…
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…
Model predictive control is a powerful tool to generate complex motions for robots. However, it often requires solving non-convex problems online to produce rich behaviors, which is computationally expensive and not always practical in real…
In this paper, we present an iterative Model Predictive Control (MPC) design for piecewise nonlinear systems. We consider finite time control tasks where the goal of the controller is to steer the system from a starting configuration to a…
In adaptive-sampling control, the control frequency can be adjusted during task execution. Ensuring that these changes do not jeopardize the safety of the system being controlled requires attention. We introduce robust M-step hold model…
Model Predictive Control (MPC) represents nowadays one of the main methods employed for process control in industry. Its strong suits comprise a simple algorithm based on a straightforward formulation and the flexibility to deal with…
Motivated by the application of using model predictive control (MPC) for motion planning of autonomous mobile robots, a form of output tracking MPC for non-holonomic systems and with non-convex constraints is studied. Although the…
This paper demonstrates the applicability of the safe model predictive control (SMPC) framework to autonomous driving scenarios, focusing on the design of adaptive cruise control (ACC) and automated lane-change systems. Building on the SMPC…
This paper addresses the problem of controlling constrained systems subject to disturbances in the case where controller and system are connected over a lossy network. To do so, we propose a novel framework that splits the concept of…
This paper presents a novel set-based model predictive control for tracking, which provides the largest domain of attraction, even with the minimal predictive/control horizon. The formulation - which consists of a single optimization…
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…
Reduced order models are computationally inexpensive approximations that capture the important dynamical characteristics of large, high-fidelity computer models of physical systems. This paper applies machine learning techniques to improve…
This paper presents a robust MPC scheme for linear systems subject to time-varying, uncertain constraints that arise from uncertain environments. The predicted input sequence is parameterized over future environment states to guarantee…
This paper is about a real-time model predictive control (MPC) algorithm for a particular class of model based controllers, whose objective consists of a nominal tracking objective and an additional learning objective. Here, the…
Model predictive control (MPC) is a powerful, optimization-based approach for controlling dynamical systems. However, the computational complexity of online optimization can be problematic on embedded devices. Especially, when we need to…
Model predictive control (MPC) is an optimal control method that predicts the future states of the system being controlled and estimates the optimal control inputs that drive the predicted states to the required reference. The computations…
This paper discusses translation and attitude control in spacecraft rendezvous and soft docking. The target spacecraft orbit can be either circular or elliptic. The high fidelity model for this problem is intrinsically a nonlinear system…
This paper proposes a novel real-time affordable solution to the trajectory tracking control problem for self-driving cars subject to longitudinal and steering angular velocity constraints. To this end, we develop a dual-mode Model…
Model mismatch often poses challenges in model-based controller design. This paper investigates model predictive control (MPC) of uncertain linear systems with input constraints, focusing on stability and closed-loop infinite-horizon…
Model predictive control (MPC) is one of the most successful modern control methods. It relies on repeatedly solving a finite-horizon optimal control problem and applying the beginning piece of the optimal input. In this paper, we develop a…