Related papers: Differentiable Nonlinear Model Predictive Control

The framework of Integral Quadratic Constraints (IQC) reduces the computation of upper bounds on the convergence rate of several optimization algorithms to a semi-definite program (SDP). In the case of over-relaxed Alternating Direction…

In this paper, we present a novel solution for real-time, Non-Linear Model Predictive Control (NMPC) exploiting a time-mesh refinement strategy. The proposed controller formulates the Optimal Control Problem (OCP) in terms of flat outputs…

The primal-dual interior point method (IPM) is widely regarded as the most efficient IPM variant for linear optimization. In this paper, we demonstrate that the improved stability of the pure primal IPM can allow speedups relative to a…

This paper presents three quantum interior-point methods (QIPMs) tailored to tackle the DC optimal power flow (DCOPF) problem using noisy intermediate-scale quantum devices. The optimization model is redefined as a linearly constrained…

Increasing the complexity of solving budgetary allocation (NP-hardness problem) has led a wide range of methods to minimize the costs. Metaheuristics and Linear Programming (LP) are the most optimization in this fields. Therefore, this…

Time series forecasting enables early warning and has driven asset performance management from traditional planned maintenance to predictive maintenance. However, the lack of interpretability in forecasting methods undermines users' trust…

Nonlinear Model Predictive Control (NMPC) is widely used for controlling high-speed robotic systems such as quadrotors. However, its significant computational demands often hinder real-time feasibility and reliability, particularly in…

We investigate the learning of implicit neural representation (INR) using an overparameterized multilayer perceptron (MLP) via a novel nonparametric teaching perspective. The latter offers an efficient example selection framework for…

Determinantal point processes (DPPs) have attracted significant attention in machine learning for their ability to model subsets drawn from a large item collection. Recent work shows that nonsymmetric DPP (NDPP) kernels have significant…

This paper is about a real-time model predictive control (MPC) algorithm for large-scale, structured linear systems with polytopic state and control constraints. The proposed controller receives the current state measurement as an input and…

Pre-trained language models (PLMs) have made significant advances in natural language inference (NLI) tasks, however their sensitivity to textual perturbations and dependence on large datasets indicate an over-reliance on shallow…

We present a methodology to learn explicit Model Predictive Control (eMPC) laws from sample data points with tunable complexity. The learning process is cast in a special Neural Network setting where the coefficients of two linear layers…

Primal-Dual Interior-Point methods are capable of solving constrained convex optimization problems to tight tolerances in a fast and robust manner. The derivatives of the primal-dual solution with respect to the problem matrices can be…

Model predictive control (MPC) is of increasing interest in applications for constrained control of multivariable systems. However, one of the major obstacles to its broader use is the computation time and effort required to solve a…

Robots executing iterative tasks in complex, uncertain environments require control strategies that balance robustness, safety, and high performance. This paper introduces a safe information-theoretic learning model predictive control…

Decentralized non-convex optimization is important in many problems of practical relevance. Existing decentralized methods, however, typically either lack convergence guarantees for general non-convex problems, or they suffer from a high…

The deployment of autonomous systems in safety-critical environments requires control policies that guarantee satisfaction of complex control specifications. These systems are commonly modeled as nonlinear discrete-time stochastic systems.…

Reliable uncertainty quantification (UQ) is essential for developing machine-learned interatomic potentials (MLIPs) in predictive atomistic simulations. Conformal prediction (CP) is a statistical framework that constructs prediction…

In machine learning and data mining, linear models have been widely used to model the response as parametric linear functions of the predictors. To relax such stringent assumptions made by parametric linear models, additive models consider…

This work develops new algorithms with rigorous efficiency guarantees for infinite horizon imitation learning (IL) with linear function approximation without restrictive coherence assumptions. We begin with the minimax formulation of the…