Related papers: Towards a unifying framework for data-driven predi…
Behavioral data-enabled control approaches typically assume data-generating systems of linear dynamics. This may result in false generalization if the newly designed closed-loop system results in input-output distributional shifts beyond…
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…
Factors like improved data availability and increasing system complexity have sparked interest in data-driven predictive control (DDPC) methods like Data-enabled Predictive Control (DeePC). However, closed-loop identification bias arises in…
This note aims to provide a systematic investigation of direct data-driven control, enriching the existing literature not by adding another isolated result, but rather by offering a unifying, versatile, and broad framework that enables the…
Despite great successes, model predictive control (MPC) relies on an accurate dynamical model and requires high onboard computational power, impeding its wider adoption in engineering systems, especially for nonlinear real-time systems with…
Safety in obstacle avoidance is critical for autonomous driving. While model predictive control (MPC) is widely used, simplified prediction models such as linearized or single-track vehicle models introduce discrepancies between predicted…
The popularity of rule-based flocking models, such as Reynolds' classic flocking model, raises the question of whether more declarative flocking models are possible. This question is motivated by the observation that declarative models are…
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…
We construct an abstract framework in which the dynamic programming principle (DPP) can be readily proven. It encompasses a broad range of common stochastic control problems in the weak formulation, and deals with problems in the…
In the past decades, most work in the area of data analysis and machine learning was focused on optimizing predictive models and getting better results than what was possible with existing models. To what extent the metrics with which such…
Model Predictive Control (MPC) is a powerful control strategy for power electronics, but it highly relies on manually-derived and topology-specific analytical models, which is labor-intensive and time-consuming in practical designs. To…
Model predictive control (MPC) is a de facto standard control algorithm across the process industries. There remain, however, applications where MPC is impractical because an optimization problem is solved at each time step. We present a…
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…
We present a computationally tractable framework for real-time predictive control of multi-chiller plants that involve both discrete and continuous control decisions coupled through nonlinear dynamics, resulting in a mixed-integer optimal…
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…
Many systems are subject to periodic disturbances and exhibit repetitive behaviour. Model-based repetitive control employs knowledge of such periodicity to attenuate periodic disturbances and has seen a wide range of successful industrial…
This paper presents a Gain-Scheduled Data-Enabled Predictive Control (GS-DeePC) framework for nonlinear systems based on multiple locally linear data representations. Instead of relying on a single global Hankel matrix, the operating range…
We study damping of inter-area oscillations in transmission grids using voltage-source-converter-based high-voltage direct-current (VSC-HVDC) links. Conventional power oscillation damping controllers rely on system models that are difficult…
Sampling-based Model Predictive Control (MPC) is a flexible control framework that can reason about non-smooth dynamics and cost functions. Recently, significant work has focused on the use of machine learning to improve the performance of…
We apply a novel data-enabled predictive control (DeePC) algorithm in grid-connected power converters to perform safe and optimal control. Rather than a model, the DeePC algorithm solely needs input/output data measured from the unknown…