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Optimization problems emerging in most of the real-world applications are dynamic, where either the objective function or the constraints change continuously over time. This paper proposes projected primal-dual dynamical system approaches…
The aim of this work is to control the longitudinal position of an autonomous vehicle with an internal combustion engine. The powertrain has an inherent dead-time characteristic and constraints on physical states apply since the vehicle is…
This paper studies the optimal control problem for discrete-time nonlinear systems and an approximate dynamic programming-based Model Predictive Control (MPC) scheme is proposed for minimizing a quadratic performance measure. In the…
This paper presents an approach towards guaranteed trajectory tracking for nonlinear control-affine systems subject to external disturbances based on robust control contraction metrics (CCM) that aims to minimize the $\mathcal L_\infty$…
The past few years have witnessed the rapid development in multivariate time series forecasting. The key to accurate forecasting results is capturing the long-term dependency between each time step (cross-time dependency) and modeling the…
Multivariate time series (MTS) analysis prevails in real-world applications such as finance, climate science and healthcare. The various self-attention mechanisms, the backbone of the state-of-the-art Transformer-based models, efficiently…
This paper proposes a form of MPC in which the control variables are moved asynchronously. This contrasts with most MIMO control schemes, which assume that all variables are updated simultaneously. MPC outperforms other control strategies…
This article focuses on the trajectory tracking problem of mobile manipulators (MMs). Firstly, we construct a position and orientation model predictive tracking control (POMPTC) scheme for mobile manipulators. The proposed POMPTC scheme can…
We present Intermittent Control (IC) models as a candidate framework for modelling human input movements in Human--Computer Interaction (HCI). IC differs from continuous control in that users are not assumed to use feedback to adjust their…
We present a Model Predictive Control (MPC) strategy for unknown input-affine nonlinear dynamical systems. A non-parametric method is used to estimate the nonlinear dynamics from observed data. The estimated nonlinear dynamics are then…
Traffic flow forecasting is a crucial task in transportation management and planning. The main challenges for traffic flow forecasting are that (1) as the length of prediction time increases, the accuracy of prediction will decrease; (2)…
Automated vehicle technologies offer a promising avenue for enhancing traffic efficiency, safety, and energy consumption. Among these, Adaptive Cruise Control (ACC) systems stand out as a prevalent form of automation on today's roads, with…
An MPC controller uses a model of the dynamical system to plan an optimal control strategy for a finite horizon, which makes its performance intrinsically tied to the quality of the model. When faults occur, the compromised model will…
Model Predictive Control (MPC) is a method to control nonlinear systems with guaranteed stability and constraint satisfaction but suffers from high computation times. Approximate MPC (AMPC) with neural networks (NNs) has emerged to address…
Time series classification (TSC) is an important task in time series analysis. Existing TSC methods mainly train on each single domain separately, suffering from a degradation in accuracy when the samples for training are insufficient in…
In the past few years, time series foundation models have achieved superior predicting accuracy. However, real-world time series often exhibit significant diversity in their temporal patterns across different time spans and domains, making…
Time-optimal control for high-order chain-of-integrators systems with full state constraints and arbitrarily given terminal states remains a challenging problem in the optimal control theory domain, yet to be resolved. To enhance further…
This work addresses the finite-time enclosing control problem where a set of followers are deployed to encircle and rotate around multiple moving targets with a predefined spacing pattern in finite time. A novel distributed and continuous…
The core of the Model Predictive Control (MPC) method in every step of the algorithm consists in solving a time-dependent optimization problem on the prediction horizon of the MPC algorithm, and then to apply a portion of the optimal…
Biaxial motion control systems are used extensively in manufacturing and printing industries. To improve throughput and reduce machine cost, lightweight materials are being proposed in structural components but may result in higher…