Related papers: Data-Driven Model-Free Adaptive Predictive Control…
We propose a stochastic model predictive control (MPC) framework for linear systems subject to joint-in-time chance constraints under unknown disturbance distributions. Unlike existing approaches that rely on parametric or Gaussian…
Model Predictive Control (MPC) is a widely known control method that has proved to be particularly effective in multivariable and constrained control. Closed-loop stability and recursive feasibility can be guaranteed by employing accurate…
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…
This paper delves into the challenges posed by the increasing complexity of modern control systems, specifically focusing on bilinear systems, a prevalent subclass of non-linear systems characterized by state dynamics influenced by the…
This letter is devoted to the concept of ``instant'' model predictive control (iMPC) for linear systems. An optimization problem is formulated to express the finite-time constrained optimal regulation control, like conventional MPC. Then,…
A robust adaptive model predictive control (MPC) algorithm is presented for linear, time invariant systems with unknown dynamics and subject to bounded measurement noise. The system is characterized by an impulse response model, which is…
This paper presents a distributionally robust stochastic model predictive control (SMPC) approach for linear discrete-time systems subject to unbounded and correlated additive disturbances. We consider hard input constraints and state…
This paper studies the leaderless formation flying problem with collision avoidance for a group of unmanned aerial vehicles (UAVs), which requires the UAVs to navigate through cluttered environments without colliding while maintaining the…
In this paper, we propose a data-driven predictive control scheme based on measured frequency-domain data of the plant. This novel scheme complements the well-known data-driven predictive control (DeePC) approach based on time series data.…
Recently, several direct Data-Driven Predictive Control (DDPC) methods have been proposed, advocating the possibility of designing predictive controllers from historical input-output trajectories without the need to identify a model. In…
Model predictive Path-Following Control (MPFC) is a viable option for motion systems in many application domains. However, despite considerable progress on tailored numerical methods for predictive control, the real-time implementation of…
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…
A modulated model predictive controller is designed for an inductor-less modular multilevel converter targeting an MVDC solid-state transformer application. The underlying optimization problem is formulated such that a unique closed-form…
In this paper, a novel online, output-feedback, critic-only, model-based reinforcement learning framework is developed for safety-critical control systems operating in complex environments. The developed framework ensures system stability…
Achieving rapid and time-deterministic stabilization for complex systems characterized by strong nonlinearities and parametric uncertainties presents a significant challenge. Traditional model-based control relies on precise system models,…
We present a Learning Model Predictive Controller (LMPC) for multi-modal systems performing iterative control tasks. Assuming availability of historical data, our goal is to design a data-driven control policy for the multi-modal system…
This work develops a stochastic model predictive controller~(SMPC) for uncertain linear systems with additive Gaussian noise subject to state and control constraints. The proposed approach is based on the recently developed finite-horizon…
Data-driven model predictive control (DD-MPC) based on Willems' Fundamental Lemma has received much attention in recent years, allowing to control systems directly based on an implicit data-dependent system description. The literature…
A centralized model predictive controller (MPC), which is unaware of local uncertainties, for an affine discrete time nonlinear system is presented. The local uncertainties are assumed to be matched, bounded and structured. In order to…
A novel adaptive control approach is proposed to solve the globally asymptotic state stabilization problem for uncertain pure-feedback nonlinear systems which can be transformed into the pseudo-affine form. The pseudo-affine pure-feedback…