Related papers: Model Predictive Control for Finite Input Systems …
D-Wave quantum annealers offer reverse annealing as a feature allowing them to refine solutions to optimization problems. This paper investigates the influence of key parameters, such as annealing times and reversal distance, on the…
Quantum annealing approximately solves combinatorial optimization problems by leveraging the principles of adiabatic quantum systems. In this approach, the system's Hamiltonian evolves from an initial general state to a problem-specific…
We propose a data-driven Model Predictive Control (MPC) framework that employs a transformer encoder to generate multi-step predictions. To handle the nonconvex attention mechanism, we derive difference of convex (DC) representations of the…
High-quality control is a fundamental requirement for quantum computation, but practically it is often hampered by the presence of various types of noises, which can be static or time-dependent. In many realistic scenarios, multiple noise…
In this thesis, we focus on the problem of validating and benchmarking quantum annealers. To this end, we propose two algorithms for solving real-world problems and test how they perform on the current generation of quantum annealers. The…
The paper presents a distributed model predictive control (DMPC) scheme for continuous-time nonlinear systems based on the alternating direction method of multipliers (ADMM). A stopping criterion in the ADMM algorithm limits the iterations…
We study the effect of the anneal path control per qubit, a new user control feature offered on the D-Wave 2000Q quantum annealer, on the performance of quantum annealing for solving optimization problems by numerically solving the…
Model Predictive Control (MPC) is the principal control technique used in industrial applications. Although it offers distinguishable qualities that make it ideal for industrial applications, it can be questioned its robustness regarding…
In this paper we propose an Alternating Direction Method of Multipliers (ADMM) algorithm for solving a Model Predictive Control (MPC) optimization problem, in which the system has state and input constraints and a nonlinear input map. The…
We present a differentiable predictive control (DPC) methodology for learning constrained control laws for unknown nonlinear systems. DPC poses an approximate solution to multiparametric programming problems emerging from explicit nonlinear…
We investigate an efficient, generic method for evaluating the performance of quantum annealing devices that does not require the prior knowledge of the true ground state of the benchmark problem. This approach exploits symmetry properties…
Model predictive control (MPC) has established itself as the primary methodology for constrained control, enabling general-purpose robot autonomy in diverse real-world scenarios. However, for most problems of interest, MPC relies on the…
In this paper we present a framework for risk-sensitive model predictive control (MPC) of linear systems affected by stochastic multiplicative uncertainty. Our key innovation is to consider a time-consistent, dynamic risk evaluation of the…
In this paper, we propose a new model predictive control (MPC) formulation for autonomous driving. The novelty of our MPC stems from the following results. Firstly, we adopt an alternating minimization approach wherein linear velocities and…
In this paper, we present a robust adaptive model predictive control (MPC) scheme for linear systems subject to parametric uncertainty and additive disturbances. The proposed approach provides a computationally efficient formulation with…
In the literature, actor-critic model predictive control (AC-MPC) integrates MPC with reinforcement learning to enable high-performance control of complex dynamical systems. However, its differentiable MPC layer requires repeatedly solving…
The Closest String Problem is an NP-complete problem which appears more commonly in bioinformatics and coding theory. Less surprisingly, classical approaches have been pursued with two prominent algorithms being the genetic algorithm and…
Model predictive control (MPC) is an optimization-based control strategy with broad industrial adoption. Unfortunately, the required computation time to solve the receding-horizon MPC optimization problem can become prohibitively large for…
Parallel Quantum Annealing is a technique to solve multiple optimization problems simultaneously. Parallel quantum annealing aims to optimize the utilization of available qubits on a quantum topology by addressing multiple independent…
Input constrained Model predictive control (MPC) includes an optimization problem which should iteratively be solved at each time-instance. The well-known drawback of model predictive control is the computational cost of the optimization…