Related papers: A Neural Network Architecture to Learn Explicit MP…
A fuel cell system must output a steady voltage as a power source in practical use. A neural network (NN) based model predictive control (MPC) approach is developed in this work to regulate the fuel cell output voltage with safety…
The control of complex systems is of critical importance in many branches of science, engineering, and industry. Controlling an unsteady fluid flow is particularly important, as flow control is a key enabler for technologies in energy…
A Learning Model Predictive Controller (LMPC) is presented and tailored to platooning and Connected Autonomous Vehicles (CAVs) applications. The proposed controller builds on previous work on nonlinear LMPC, adapting its architecture and…
This paper develops a data-driven learning framework for approximating the feasible region and invariant set of a nonlinear system under the nonlinear Model Predictive Control (MPC) scheme. The developed approach is based on the feasibility…
Approximating model predictive control (MPC) policy using expert-based supervised learning techniques requires labeled training data sets sampled from the MPC policy. This is typically obtained by sampling the feasible state-space and…
Model-free Reinforcement Learning (RL) works well when experience can be collected cheaply and model-based RL is effective when system dynamics can be modeled accurately. However, both assumptions can be violated in real world problems such…
Model Predictive Control (MPC) is a powerful control strategy for power electronics, but it highly relies on manually-derived and topology-specific analytical models, which is labor-intensive and time-consuming in practical designs. To…
One of the main challenges in modern control applications, particularly in robot and vehicle motion control, is achieving accurate, fast, and safe movement. To address this, optimal control policies have been developed to enforce safety…
We present a sample-based Learning Model Predictive Controller (LMPC) for constrained uncertain linear systems subject to bounded additive disturbances. The proposed controller builds on earlier work on LMPC for deterministic systems.…
Model Predictive Control (MPC) is a powerful control strategy widely utilized in domains like energy management, building control, and autonomous systems. However, its effectiveness in real-world settings is challenged by the need to…
Model predictive control (MPC) is an effective method for controlling robotic systems, particularly autonomous aerial vehicles such as quadcopters. However, application of MPC can be computationally demanding, and typically requires…
In this paper, we propose a convex data-based economic predictive control method within the framework of data-enabled predictive control (DeePC). Specifically, we use a neural network to transform the system output into a new state space,…
Robotic cloth manipulation is a relevant challenging problem for autonomous robotic systems. Highly deformable objects as textile items can adopt multiple configurations and shapes during their manipulation. Hence, robots should not only…
In this paper, we address the problem of reducing the computational burden of Model Predictive Control (MPC) for real-time robotic applications. We propose TransformerMPC, a method that enhances the computational efficiency of MPC…
Optimal control provides a principled framework for transforming dynamical system models into intelligent decision-making, yet classical computational approaches are often too expensive for real-time deployment in dynamic or uncertain…
Model Predictive Control (MPC) is a state-of-the-art (SOTA) control technique which requires solving hard constrained optimization problems iteratively. For uncertain dynamics, analytical model based robust MPC imposes additional…
Encrypted control seeks confidential controller evaluation in cloud-based or networked systems. Many existing approaches build on homomorphic encryption (HE) that allow simple mathematical operations to be carried out on encrypted data.…
This paper develops a methodology for adaptive data-driven Model Predictive Control (MPC) using Koopman operators. While MPC is ubiquitous in various fields of engineering, the controller performance can deteriorate if the modeling error…
Data-enabled predictive control (DeePC) is a data-driven control algorithm that utilizes data matrices to form a non-parametric representation of the underlying system, predicting future behaviors and generating optimal control actions.…
We propose Kernel Predictive Control (KPC), a learning-based predictive control strategy that enjoys deterministic guarantees of safety. Noise-corrupted samples of the unknown system dynamics are used to learn several models through the…