Related papers: Fractional-Order Model Predictive Control for Neur…
Functional Electrical Stimulation (FES) can be an effective tool to augment paretic muscle function and restore normal ankle function. Our approach incorporates a real-time, data-driven Model Predictive Control (MPC) scheme, built upon a…
In this paper, a safe and learning-based control framework for model predictive control (MPC) is proposed to optimize nonlinear systems with a non-differentiable objective function under uncertain environmental disturbances. The control…
We develop a three-component Model Predictive Control (MPC) algorithm to achieve output-reference tracking with prescribed performance for continuous-time nonlinear systems. One component is so-called funnel MPC, which achieves reference…
Robust Model Predictive Control (MPC) for nonlinear systems is a problem that poses significant challenges as highlighted by the diversity of approaches proposed in the last decades. Often compromises with respect to computational load,…
A major shortcoming of medical practice is the lack of an objective measure of conscious level. Impairment of consciousness is common, e.g. following brain injury and seizures, which can also interfere with sensory processing and volitional…
Small continuous sensory and mechanical perturbations have often been used to identify properties of the closed-loop neural control of posture and other systems that are approximately linear time invariant. Here we extend this approach to…
This paper proposes a novel orientation-aware model predictive control (MPC) for dynamic humanoid walking that can plan footstep locations online. Instead of a point-mass model, this work uses the augmented single rigid body model (aSRBM)…
Learning-based model predictive control (MPC) is an approach designed to reduce the computational cost of MPC. In this paper, a constrained deep neural network (DNN) design is proposed to learn MPC policy for nonlinear systems. Using…
We present a nonlinear data-driven Model Predictive Control (MPC) algorithm for deep brain stimulation (DBS) for the treatment of Parkinson's disease (PD). Although DBS is typically implemented in open-loop, closed-loop DBS (CLDBS) uses the…
Fractional Differential Equations (FDEs) are essential tools for modelling complex systems in science and engineering. They extend the traditional concepts of differentiation and integration to non-integer orders, enabling a more precise…
Electro-stimulation or modulation of deep brain regions is commonly used in clinical procedures for the treatment of several nervous system disorders. In particular, transcranial direct current stimulation (tDCS) is widely used as an…
Brain metabolism is controlled by complex regulation mechanisms. As part of their nature many complex systems show scaling behavior in their timeseries data. Corresponding scaling exponents can sometimes be used to characterize these…
Understanding the sequence of cognitive operations that underlie decision-making is a fundamental challenge in cognitive neuroscience. Traditional approaches often rely on group-level statistics, which obscure trial-by-trial variations in…
Model predictive control (MPC) provides a useful means for controlling systems with constraints, but suffers from the computational burden of repeatedly solving an optimization problem in real time. Offline (explicit) solutions for MPC…
In this chapter we review phenomenological models of seizure like activity. We discuss dynamical mechanisms for seizure onset and offset, preictal spikes, spike and wave complexes and status epilepticus, highlighting the role played by the…
We propose and analyze a real-time model predictive control (MPC) scheme that utilizes stored data to improve its performance by learning the value function online with stability guarantees. For linear and nonlinear systems, a learning…
Piecewise-linear nonlinear systems appear in many engineering disciplines. Prediction of the dynamic behavior of such systems is of great importance from practical and theoretical viewpoint. In this paper, a data-driven model order…
Control of machine learning models has emerged as an important paradigm for a broad range of robotics applications. In this paper, we present a sampling-based nonlinear model predictive control (NMPC) approach for control of neural network…
In this paper, we investigate the problem of Model Predictive Control (MPC) of dynamic systems for high-level specifications described by Signal Temporal Logic (STL) formulae. Recent works show that MPC has the great potential in handling…
Emotion recognition using electroencephalogram (EEG) mainly has two scenarios: classification of the discrete labels and regression of the continuously tagged labels. Although many algorithms were proposed for classification tasks, there…