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We present a framework for vision-based model predictive control (MPC) for the task of aggressive, high-speed autonomous driving. Our approach uses deep convolutional neural networks to predict cost functions from input video which are…
This paper presents a real-time lane change control framework of autonomous driving in dense traffic, which exploits cooperative behaviors of other drivers. This paper focuses on heavy traffic where vehicles cannot change lanes without…
The unaffordable computation load of nonlinear model predictive control (NMPC) has prevented it for being used in robots with high sampling rates for decades. This paper is concerned with the policy learning problem for nonlinear MPC with…
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…
Model Predictive Control (MPC) has been widely applied to the motion planning of autonomous vehicles. An MPC-controlled vehicle is required to predict its own trajectories in a finite prediction horizon according to its model. Beyond this,…
Model predictive control (MPC) has proven useful in enabling safe and optimal motion planning for autonomous vehicles. In this paper, we investigate how to achieve MPC-based motion planning when a neural state-space model represents the…
Eco-driving (ED) can be used for fuel savings in existing vehicles, requiring only a few hardware modifications. For this technology to be successful in a dynamic environment, ED requires an online real-time implementable policy. In this…
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.…
Nonlinear model predictive control (MPC) is a flexible and increasingly popular framework used to synthesize feedback control strategies that can satisfy both state and control input constraints. In this framework, an optimization problem,…
Nonlinear Model Predictive Control (NMPC) is a powerful approach for controlling highly dynamic robotic systems, as it accounts for system dynamics and optimizes control inputs at each step. However, its high computational complexity makes…
Model Predictive Control (MPC) has become a popular framework in embedded control for high-performance autonomous systems. However, to achieve good control performance using MPC, an accurate dynamics model is key. To maintain real-time…
Human and animal brains perform planning to enable complex movements and behaviors. This process can be effectively described using model predictive control (MPC); that is, brains can be thought of as implementing some version of MPC. How…
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…
To address the computational challenges of Model Predictive Control (MPC), recent research has studied using imitation learning to approximate MPC with a computationally efficient Deep Neural Network (DNN). However, this introduces a common…
We develop a data-driven deep neural operator framework to approximate multiple output states for a diesel engine and generate real-time predictions with reasonable accuracy. As emission norms become more stringent, the need for fast and…
In this paper, we propose an economic nonlinear model predictive control (MPC) algorithm for district heating networks (DHNs). The proposed method features prosumers, multiple producers, and storage systems, which are essential components…
Model predictive control (MPC) has been used widely in power electronics due to its simple concept, fast dynamic response, and good reference tracking. However, it suffers from parametric uncertainties, since it directly relies on the…
When predicting PM2.5 concentrations, it is necessary to consider complex information sources since the concentrations are influenced by various factors within a long period. In this paper, we identify a set of critical domain knowledge for…
Resolving edge-cases in autonomous driving, head-to-head autonomous racing is getting a lot of attention from the industry and academia. In this study, we propose a game-theoretic model predictive control (MPC) approach for head-to-head…
Temperature control is a complex task due to its often unknown dynamics and disturbances. This paper explores the use of Neural Nonlinear AutoRegressive eXogenous (NNARX) models for nonlinear system identification and model predictive…