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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) architecture for…
We introduce a learning-based algorithm to obtain a measurement matrix for compressive sensing related recovery problems. The focus lies on matrices with a constant modulus constraint which typically represent a network of analog phase…
Redundant robots are desired to execute multitasks with different priorities simultaneously. The task priorities are necessary to be transitioned for complex task scheduling of whole-body control (WBC). Many methods focused on guaranteeing…
We propose a novel approach to design a robust Model Predictive Controller (MPC) for constrained uncertain linear systems. The uncertain system is modeled as linear parameter varying with additive disturbance. Set bounds for the system…
In this paper we have considered a finite unitary matrix group with exact elements being unknown and only approximate elements available. Such a group becomes inconsistent with its own multiplication table. We found simple correction…
For critical applications that require a higher level of reliability, the Triple Modular Redundancy (TMR) scheme is usually employed to implement fault-tolerant arithmetic units. However, this method imposes a significant area and…
An algorithm for a family of self-starting high-order implicit time integration schemes with controllable numerical dissipation is proposed for both linear and nonlinear transient problems. This work builds on the previous works of the…
We present second-order molecular cluster perturbation theory (MCPT(2)), a linear scaling methodology to calculate arbitrarily large systems with explicit calculation of individual wavefunctions in a coupled-cluster framework. This new…
We propose a non-commutative algorithm for multiplying 2x2 matrices using 7 coefficient products. This algorithm reaches simultaneously a better accuracy in practice compared to previously known such fast algorithms, and a time complexity…
Hierarchical matrices are space and time efficient representations of dense matrices that exploit the low rank structure of matrix blocks at different levels of granularity. The hierarchically low rank block partitioning produces…
This paper presents a new approach to solve linear and nonlinear model predictive control (MPC) problems that requires small memory footprint and throughput and is particularly suitable when the model and/or controller parameters change at…
In this paper we present a second-order and continuous interpolation algorithm for cell-centered adaptive-mesh-refinement (AMR) grids. Continuity requirement poses a non-trivial problem at resolution changes. We develop a classification of…
Linear-scaling electronic-structure techniques, also called O(N) techniques, rely heavily on the multiplication of sparse matrices, where the sparsity arises from spatial cut-offs. In order to treat very large systems, the calculations must…
Motivated by the study of dynamic control systems, this paper proposes novel algebraic operations on cubic matrices to construct both linear and nonlinear controlled dynamics. The standard t-product of cubic matrices imposes strict…
Explicit model-predictive control (MPC) is a widely used control design method that employs optimization tools to find control policies offline; commonly it is posed as a semi-definite program (SDP) or as a mixed-integer SDP in the case of…
Many problems in computer science and applied mathematics require rounding a vector $\mathbf{w}$ of fractional values lying in the interval $[0,1]$ to a binary vector $\mathbf{x}$ so that, for a given matrix $\mathbf{A}$,…
A randomized algorithm for computing a compressed representation of a given rank-structured matrix $A \in \mathbb{R}^{N\times N}$ is presented. The algorithm interacts with $A$ only through its action on vectors. Specifically, it draws two…
A generic method to investigate many-body continuous-variable systems is pedagogically presented. It is based on the notion of matrix product states (so-called MPS) and the algorithms thereof. The method is quite versatile and can be…
Since high data volume and complex data formats delivered in modern high-end production environments go beyond the scope of classical process control systems, more advanced tools involving machine learning are required to reliably recognize…
This article presents an identification methodology to capture general relationships, with application to piecewise nonlinear approximations of model predictive control for constrained (non)linear systems. The mathematical formulation…