Related papers: Learning Soft Constrained MPC Value Functions: Eff…
Model mismatch and process noise are two frequently occurring phenomena that can drastically affect the performance of model predictive control (MPC) in practical applications. We propose a principled way to tune the cost function and the…
Industrial embedded systems are typically used to execute simple control algorithms due to their low computational resources. Despite these limitations, the implementation of advanced control techniques such as Model Predictive Control…
Recent work in imitation learning has shown that having an expert controller that is both suitably smooth and stable enables stronger guarantees on the performance of the learned controller. However, constructing such smoothed expert…
Robots must satisfy safety-critical state and input constraints despite disturbances and model mismatch. We introduce a robust model predictive control (RMPC) formulation that is fast, scalable, and compatible with real-time implementation.…
Reinforcement Learning (RL) has demonstrated a huge potential in learning optimal policies without any prior knowledge of the process to be controlled. Model Predictive Control (MPC) is a popular control technique which is able to deal with…
While Model Predictive Control (MPC) enforces safety via constraints, its real-time execution can exceed embedded compute budgets. We propose a Barrier-integrated Adaptive Neural Model Predictive Control (BAN-MPC) framework that synergizes…
Model predictive control (MPC) is a powerful control method that allows to directly include state and input constraints into the controller design. However, errors in the model, e.g., caused by unknown disturbances, can lead to constraint…
Designing predictive controllers towards optimal closed-loop performance while maintaining safety and stability is challenging. This work explores closed-loop learning for predictive control parameters under imperfect information while…
The main benefit of model predictive control (MPC) is its ability to steer the system to a given reference without violating the constraints while minimizing some objective. Furthermore, a suitably designed MPC controller guarantees…
Reinforcement learning (RL) and model predictive control (MPC) offer complementary strengths, yet combining them at scale remains computationally challenging. We propose soft MPCritic, an RL-MPC framework that learns in (soft) value space…
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…
This paper presents a framework for bounding the approximation error in imitation model predictive controllers utilizing neural networks. Leveraging the Lipschitz properties of these neural networks, we derive a bound that guides dataset…
Model Predictive Control (MPC) is widely used in robot control by optimizing a sequence of control outputs over a finite-horizon. Computational approaches for MPC include deterministic methods (e.g., iLQR and COBYLA), as well as…
Model Predictive Control (MPC) is a powerful control technique that handles constraints, takes the system's dynamics into account, and optimizes for a given cost function. In practice, however, it often requires an expert to craft and tune…
Model predictive control (MPC) provides a useful means for controlling systems with constraints, but suffers from the computational burden of repeatedly solving an optimization problem in real time. Offline (explicit) solutions for MPC…
Lipschitz constants for linear MPC are useful for certifying inherent robustness against unmodeled disturbances or robustness for neural network-based approximations of the control law. In both cases, knowing the minimum Lipschitz constant…
We propose a Model Predictive Control (MPC) with a single-step prediction horizon to approximate the solution of infinite horizon optimal control problems with the expected sum of convex stage costs for constrained linear uncertain systems.…
Model Predictive Control (MPC) is a widely known control method that has proved to be particularly effective in multivariable and constrained control. Closed-loop stability and recursive feasibility can be guaranteed by employing accurate…
In this paper, stability and sensitivity properties of a class of parametric constrained optimization problem, whose feasible region is defined by a set-valued inclusion, are investigated through the associated optimal value function.…
We propose an iterative approach for designing Robust Learning Model Predictive Control (LMPC) policies for a class of nonlinear systems with additive, unmodelled dynamics. The nominal dynamics are assumed to be difference flat, i.e., the…