Related papers: Embedded Model Predictive Controller on Low-Cost L…
We propose a multiscale model predictive control (MPC) framework for stationary battery systems that exploits high-fidelity models to trade-off short-term economic incentives provided by energy and frequency regulation (FR) markets and…
The tunable approximated explicit model predictive control (MPC) comes with the benefits of real-time tunability without the necessity of solving the optimization problem online. This paper provides a novel self-tunable control policy that…
Model predictive control (MPC) is a powerful tool for planning and controlling dynamical systems due to its capacity for handling constraints and taking advantage of preview information. Nevertheless, MPC performance is highly dependent on…
This paper aims to develop an efficient open-source Secure Multi-Party Computation (SMPC) repository, that addresses the issue of practical and scalable implementation of SMPC protocol on machines with moderate computational resources,…
Model predictive control (MPC) has been applied to many platforms in robotics and autonomous systems for its capability to predict a system's future behavior while incorporating constraints that a system may have. To enhance the performance…
In the realm of control systems, model predictive control (MPC) has exhibited remarkable potential; however, its reliance on accurate models and substantial computational resources has hindered its broader application, especially within…
Model Predictive Control (MPC) is a well-established approach to solve infinite horizon optimal control problems. Since optimization over an infinite time horizon is generally infeasible, MPC determines a suboptimal feedback control by…
Deeply embedded systems often have the tightest constraints on energy consumption, requiring that they consume tiny amounts of current and run on batteries for years. However, they typically execute code directly from flash, instead of the…
We study unconstrained and constrained linear quadratic problems and investigate the suboptimality of the model predictive control (MPC) method applied to such problems. Considering MPC as an approximate scheme for solving the related fixed…
Many robotics domains use some form of nonconvex model predictive control (MPC) for planning, which sets a reduced time horizon, performs trajectory optimization, and replans at every step. The actual task typically requires a much longer…
Model predictive control (MPC) is a method to formulate the optimal scheduling problem for grid flexibilities in a mathematical manner. The resulting time-constrained optimization problem can be re-solved in each optimization time step…
This paper provides a comprehensive tutorial on a family of Model Predictive Control (MPC) formulations, known as MPC for tracking, which are characterized by including an artificial reference as part of the decision variables in the…
The growing need for high-performance controllers in safety-critical applications like autonomous driving has been motivating the development of formal safety verification techniques. In this paper, we design and implement a predictive…
Model predictive control (MPC) is a popular control method that has proved effective for robotics, among other fields. MPC performs re-planning at every time step. Re-planning is done with a limited horizon per computational and real-time…
Consumer-grade biosensors offer a cost-effective alternative to medical-grade electromyography (EMG) systems, reducing hardware costs from thousands of dollars to approximately $13. However, these low-cost sensors introduce significant…
This paper introduces a novel method for robust output-feedback model predictive control (MPC) for a class of nonlinear discrete-time systems. We propose a novel interval-valued predictor which, given an initial estimate of the state,…
Autonomous vehicles are becoming popular day by day not only for autonomous road traversal but also for industrial automation, farming and military. Most of the standard vehicles follow the Ackermann style steering mechanism. This has…
Autonomous systems are increasingly deployed in real-world environments, where they must achieve high performance while maintaining safety under state and input constraints. Although Model Predictive Control (MPC) provides a principled…
This paper presents a robust adaptive learning Model Predictive Control (MPC) framework for linear systems with parametric uncertainties and additive disturbances performing iterative tasks. The approach refines the parameter estimates…
We exploit an adaptive control technique, namely funnel control, in order to establish both initial and recursive feasibility in Model Predictive Control (MPC) for output-constrained nonlinear systems. Moreover, we show that the resulting…