Related papers: Fuel-Economical Distributed Model Predictive Contr…
Heavy-duty hydraulic manipulators (HHMs) operate under strict physical and safety-critical constraints due to their large size, high power, and complex nonlinear dynamics. Ensuring that both joint-level and end-effector trajectories remain…
A Nonlinear Model Predictive Control (NMPC) strategy aimed at controlling a small-scale car model for autonomous racing competitions is presented in this paper. The proposed control strategy is concerned with minimizing the lap time while…
Model Predictive Control (MPC) is effective at generating safe control strategies in constrained scenarios, at the cost of computational complexity. This is especially the case in robots that require high sampling rates and have limited…
Distributed parameter systems (DPS) are formulated as partial differential equations (PDE). Especially, under time-varying boundary conditions, PDE introduce force coupling. In the case of the flexible stacker crane (STC), nonlinear…
Economic model predictive control (EMPC) is a promising methodology for optimal operation of dynamical processes that has been shown to improve process economics considerably. However, EMPC performance relies heavily on the accuracy of the…
For the application of MPC design in on-line regulation or tracking control problems, several studies have attempted to develop an accurate model, and realize adequate uncertainty description of linear or non-linear plants of the processes.…
This paper explores the synergies between integrated power and thermal management (iPTM) and battery charging in an electric vehicle (EV). A multi-objective model predictive control (MPC) framework is developed to optimize the fast charging…
Consecutive traffic signalized intersections can increase vehicle stops, producing vehicle accelerations on arterial roads and potentially increasing vehicle fuel consumption levels. Eco-driving systems are one method to improve vehicle…
Hybrid-electric propulsion systems powered by clean energy derived from renewable sources offer a promising approach to decarbonise the world's transportation systems. Effective energy management systems are critical for such systems to…
This paper proposes a new convex model predictive control strategy for dynamic optimal power flow between battery energy storage systems distributed in an AC microgrid. The proposed control strategy uses a new problem formulation, based on…
Connected and Automated Hybrid Electric Vehicles have the potential to reduce fuel consumption and travel time in real-world driving conditions. The eco-driving problem seeks to design optimal speed and power usage profiles based upon…
Achieving energy-efficient trajectory planning for autonomous driving remains a challenge due to the limitations of model-agnostic approaches. This study addresses this gap by introducing an online nonlinear programming trajectory…
We propose Diffusion-Informed Model Predictive Control (D-I MPC), a generic framework for uncertainty-aware prediction and decision-making in partially observable stochastic systems by integrating diffusion-based time series forecasting…
Platooning of autonomous vehicles has the potential to increase safety and fuel efficiency on highways. The goal of platooning is to have each vehicle drive at a specified speed (set by the leader) while maintaining a safe distance from its…
This article studies the problems of distributed dynamic platoons control and smart junction crossing optimization for a mixed traffic flow with connected automated vehicles(CAVs) and social human-driven vehicles(HDVs) in a smart city. The…
In this paper, we investigate cooperative platoon formation and benefit allocation in mixed-energy truck fleets composed of both electric and fuel-powered trucks. The central challenge arises from the platoon-size constraint, which limits…
Balancing passenger demand and vehicle availability is crucial for ensuring the sustainability and effectiveness of urban transportation systems. To address this challenge, we propose a novel hierarchical strategy for the efficient…
Increasing penetration of renewable energy sources (RES) and electrification of energy systems necessitates the engagement of demand-side management (DSM) to help alleviate congestion in electricity grid. Heat pump and thermal energy…
This paper addresses the control of diesel engine nitrogen oxides (NOx) and Soot emissions through the application of Model Predictive Control (MPC). The developments described in the paper are based on a high-fidelity model of the engine…
We compare the performance of proportional-integral-derivative (PID) control, linear model predictive control (LMPC), and nonlinear model predictive control (NMPC) for a physical setup of the quadruple tank system (QTS). We estimate the…