Related papers: PRESAS: Block-Structured Preconditioning of Iterat…

Model predictive control (MPC) is a powerful tool for controlling complex nonlinear systems under constraints, but often struggles with model uncertainties and the design of suitable cost functions. To address these challenges, we discuss…

A comprehensive approach addressing identification and control for learningbased Model Predictive Control (MPC) for linear systems is presented. The design technique yields a data-driven MPC law, based on a dataset collected from the…

We propose a preconditioner to accelerate the convergence of the GMRES iterative method for solving the system of linear equations obtained from discretize-then-optimize approach applied to optimal control problems constrained by a partial…

Mixed-integer model predictive control (MI-MPC) can be a powerful tool for modeling hybrid control systems. In case of a linear-quadratic objective in combination with linear or piecewise-linear system dynamics and inequality constraints,…

Model Predictive Control (MPC) is a successful control methodology, which is applied to increasingly complex systems. However, real-time feasibility of MPC can be challenging for complex systems, certainly when an (extremely) large number…

At the forefront of control techniques is Model Predictive Control (MPC). While MPCs are effective, their requisite to recompute an optimal control given a new state leads to sparse response to the system and may make their implementation…

We present an integrated prediction-optimization (PredOpt) framework to efficiently solve sequential decision-making problems by predicting the values of binary decision variables in an optimal solution. We address the key issues of…

Model predictive control (MPC) is a powerful control method that handles dynamical systems with constraints. However, solving MPC iteratively in real time, i.e., implicit MPC, remains a computational challenge. To address this, common…

Although some preconditioners are available for solving dense linear systems, there are still many matrices for which preconditioners are lacking, in particular in cases where the size of the matrix $N$ becomes very large. There remains…

Efficient and robust iterative solvers for strong anisotropic elliptic equations are very challenging. In this paper a block preconditioning method is introduced to solve the linear algebraic systems of a class of micro-macro…

Periodic operation often emerges as the economically optimal mode in industrial processes, particularly under varying economic or environmental conditions. This paper proposes a robust model predictive control (MPC) framework for uncertain…

Solving sparse linear systems from discretized PDEs is challenging. Direct solvers have in many cases quadratic complexity (depending on geometry), while iterative solvers require problem dependent preconditioners to be robust and…

We design an model predictive control (MPC) approach for planning and control of non-holonomic mobile robots. Linearizing the system dynamics around the pre-computed reference trajectory gives a time-varying LQ MPC problem. We analytically…

This paper introduces a preconditioned method designed to comprehensively address the saddle point system with the aim of improving convergence efficiency. In the preprocessor construction phase, a technical approach for solving the…

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…

In this study, we are concerned with autonomous driving missions when a static obstacle blocks a given reference trajectory. To provide a realistic control design, we employ a model predictive control (MPC) utilizing nonlinear state-space…

Motion Cueing Algorithms (MCAs) encode the movement of simulated vehicles into movement that can be reproduced with a motion simulator to provide a realistic driving experience within the capabilities of the machine. This paper introduces a…

Preconditioners are generally essential for fast convergence in the iterative solution of linear systems of equations. However, the computation of a good preconditioner can be expensive. So, while solving a sequence of many linear systems,…

We deal with interval parametric systems of linear equations and the goal is to solve such systems, which basically comes down to finding an enclosure for a parametric solution set. Obviously we want this enclosure to be as tight as…

Iterative learning control (ILC) improves the performance of a repetitive system by learning from previous trials. ILC can be combined with Model Predictive Control (MPC) to mitigate non-repetitive disturbances, thus improving overall…