Related papers: Warm Start of Mixed-Integer Programs for Model Pre…
Model Predictive Control (MPC) is a powerful and flexible design tool of high-performance controllers for physical systems in the presence of input and output constraints. A challenge for the practitioner applying MPC is the need of tuning…
Mixed integer convex and nonlinear programs, MICP and MINLP, are expressive but require long solving times. Recent work that combines data-driven methods on solver heuristics has shown potential to overcome this issue allowing for…
This paper proposes a novel robust Model Predictive Control (MPC) scheme for linear discrete-time systems affected by model uncertainty described by interval matrices. The key feature of the proposed method is a bound on the uncertainty…
We present an approach, which we term quantum-enhanced optimization, to accelerate classical optimization algorithms by leveraging quantum sampling. Our method uses quantum-generated samples as warm starts to classical heuristics for…
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…
This paper proposes a parallelizable algorithm for linear-quadratic model predictive control (MPC) problems with state and input constraints. The algorithm itself is based on a parallel MPC scheme that has originally been designed for…
In this letter, an accelerated quadratic programming (QP) algorithm is proposed based on the proximal gradient method. The algorithm can achieve convergence rate $O(1/p^{\alpha})$, where $p$ is the iteration number and $\alpha$ is the given…
Mixed-Integer Programs (MIPs) are NP-hard optimization models that arise in a broad range of decision-making applications, including finance, logistics, energy systems, and network design. Although modern commercial solvers have achieved…
We consider nonlinear model predictive control (MPC) with multiple competing cost functions. In each step of the scheme, a multiobjective optimal control problem with a nonlinear system and terminal conditions is solved. We propose an…
Model predictive control (MPC) is an optimal control strategy where control input calculation is based on minimizing the predicted tracking error over a finite horizon that moves with time. This strategy has an advantage over conventional…
Due to low numbers of qubits and their error-proneness, Noisy Intermediate-Scale Quantum (NISQ) computers impose constraints on the size of quantum algorithms they can successfully execute. State-of-the-art research introduces various…
Mixed Integer Programs (MIPs) model many optimization problems of interest in Computer Science, Operations Research, and Financial Engineering. Solving MIPs is NP-Hard in general, but several solvers have found success in obtaining…
Mixed Binary Quadratic Programs (MBQPs) are a class of NP-hard problems that arise in a wide range of applications, including finance, machine learning, and chemical and energy systems. Large-scale MBQPs are challenging to solve with exact…
The problem of controlling hybrid dynamical systems using model predictive control (MPC) is formulated and sufficient conditions for asymptotic stability of a set are provided. Hybrid dynamical systems are modeled in terms of hybrid…
Optimizing the trajectories of multiple quadrotors in a shared space is a core challenge in various applications. Many existing trajectory optimization methods enforce constraints only at the discretization points, leading to violations…
In this paper, we consider the canonical water network design problem, which contains nonconvex potential loss functions and discrete resistance choices with varying costs. Traditionally, to resolve the nonconvexities of this problem,…
Quantum optimization algorithms can be used to recreate unsupervised learning clustering of data by mapping the problem to a graph optimization problem and finding the minimum energy for a MaxCut problem formulation. This research tests the…
Cutting planes for mixed-integer linear programs (MILPs) are typically computed in rounds by iteratively solving optimization problems, the so-called separation. Instead, we reframe the problem of finding good cutting planes as a continuous…
In this paper, a multi-horizon model predictive controller (MH-MPC) is developed for integrated power and thermal management (iPTM) of a power-split hybrid electric vehicle (HEV). The proposed MH-MPC leverages an accurate short-horizon…
Model predictive control (MPC) is pervasive in research and industry. However, designing the cost function and the constraints of the MPC to maximize closed-loop performance remains an open problem. To achieve optimal tuning, we propose a…