Related papers: Reinforcement Learning-based Model Predictive Cont…
Model predictive control (MPC) is widely used for motion planning, particularly in autonomous driving. Real-time capability of the planner requires utilizing convex approximation of optimal control problems (OCPs) for the planner. However,…
In this paper, we present the use of Model Predictive Control (MPC) based on Reinforcement Learning (RL) to find the optimal policy for a multi-agent battery storage system. A time-varying prediction of the power price and production-demand…
Model Predictive Control (MPC) provides interpretable, tunable locomotion controllers grounded in physical models, but its robustness depends on frequent replanning and is limited by model mismatch and real-time computational constraints.…
Reinforcement learning (RL) and model predictive control (MPC) each offer distinct advantages and limitations when applied to control problems in power and energy systems. Despite various studies on these methods, benchmarks remain lacking…
Sampling-based model predictive control (MPC) has found significant success in optimal control problems with non-smooth system dynamics and cost function. Many machine learning-based works proposed to improve MPC by a) learning or…
In Europe, profit-seeking balance responsible parties can deviate in real time from their day-ahead nominations to assist transmission system operators in maintaining the supply-demand balance. Model predictive control (MPC) strategies to…
Reinforcement learning (RL) and model predictive control (MPC) offer a wealth of distinct approaches for automatic decision-making under uncertainty. Given the impact both fields have had independently across numerous domains, there is…
The combination of learning methods with Model Predictive Control (MPC) has attracted a significant amount of attention in the recent literature. The hope of this combination is to reduce the reliance of MPC schemes on accurate models, and…
The successful operation of mobile robots requires them to adapt rapidly to environmental changes. To develop an adaptive decision-making tool for mobile robots, we propose a novel algorithm that combines meta-reinforcement learning…
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 presents a safe learning-based eco-driving framework tailored for mixed traffic flows, which aims to optimize energy efficiency while guaranteeing safety during real-system operations. Even though reinforcement learning (RL) is…
We propose and analyze a real-time model predictive control (MPC) scheme that utilizes stored data to improve its performance by learning the value function online with stability guarantees. For linear and nonlinear systems, a learning…
This paper proposes a learning-based model predictive control (MPC) approach for the thermal control of a four-zone smart building. The objectives are to minimize energy consumption and maintain the residents' comfort. The proposed control…
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…
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…
A large body of simulation research suggests that model predictive control (MPC) and reinforcement learning (RL) for heating, ventilation, and air-conditioning (HVAC) in residential and commercial buildings could reduce energy costs,…
Real-world reinforcement learning (RL) problems often demand that agents behave safely by obeying a set of designed constraints. We address the challenge of safe RL by coupling a safety guide based on model predictive control (MPC) with a…
Greenhouse environment is the key to influence crops production. However, it is difficult for classical control methods to give precise environment setpoints, such as temperature, humidity, light intensity and carbon dioxide concentration…
A robust adaptive model predictive control (MPC) algorithm is presented for linear, time invariant systems with unknown dynamics and subject to bounded measurement noise. The system is characterized by an impulse response model, which is…
Reinforcement learning suffers from limitations in real practices primarily due to the number of required interactions with virtual environments. It results in a challenging problem because we are implausible to obtain a local optimal…