Related papers: Model-free Dynamic Mode Adaptive Control using Mat…
Model predictive control (MPC) has been shown to significantly improve the energy efficiency of buildings while maintaining thermal comfort. Data-driven approaches based on neural networks have been proposed to facilitate system modelling.…
This paper presents a novel Representation-Free Model Predictive Control (RF-MPC) framework for controlling various dynamic motions of a quadrupedal robot in three dimensional (3D) space. Our formulation directly represents the rotational…
This paper presents a new technique for the design of approximate reasoning based controllers for dynamic physical systems with interacting goals. In this approach, goals are achieved based on a hierarchy defined by a control knowledge base…
Recent efforts in the development of autonomous driving technology have induced great advancements in perception, planning and control systems. Model predictive control is one of the most popular advanced control methods, but its…
Reinforcement learning (RL) algorithms have been successfully used to develop control policies for dynamical systems. For many such systems, these policies are trained in a simulated environment. Due to discrepancies between the simulated…
In this paper, we propose a novel data-driven predictive control approach for systems subject to time-domain constraints. The approach combines the strengths of H-infinity control for rejecting disturbances and MPC for handling constraints.…
MPC (Model Predictive Control) techniques, with constraints, are applied to a nonlinear vehicle model for the development of an ACC (Adaptive Cruise Control) system for transitional manoeuvres. The dynamic model of the vehicle is developed…
The dynamic mode decomposition (DMD) has become a leading tool for data-driven modeling of dynamical systems, providing a regression framework for fitting linear dynamical models to time-series measurement data. We present a simple…
A data-driven and equation-free approach is proposed and discussed to model ships maneuvers in waves, based on the dynamic mode decomposition (DMD). DMD is a dimensionality-reduction/reduced-order modeling method, which provides a linear…
Load frequency control (LFC) is widely employed in power systems to stabilize frequency fluctuation and guarantee power quality. However, most existing LFC methods rely on accurate power system modeling and usually ignore the nonlinear…
The goal of this paper is to present an end-to-end, data-driven framework to control Autonomous Mobility-on-Demand systems (AMoD, i.e. fleets of self-driving vehicles). We first model the AMoD system using a time-expanded network, and…
We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics from first principles and selectively…
This paper presents a deep learning based model predictive control algorithm for control affine nonlinear discrete time systems with matched and bounded state dependent uncertainties of unknown structure. Since the structure of…
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…
We present an online multi-task learning approach for adaptive nonlinear control, which we call Online Meta-Adaptive Control (OMAC). The goal is to control a nonlinear system subject to adversarial disturbance and unknown…
This paper explores the novel concept of damping controller coordination, which aims to minimize the Total Action metric by identifying an optimal switching combination (on/off) of these controllers. The metric is rooted in power system…
We propose a model-agnostic stochastic predictive control (MASMPC) algorithm for dynamical systems. The proposed approach first discovers \textit{interpretable} governing differential equations from data using a novel algorithm and blends…
The paper develops the Adaptive Dynamic Programming Toolbox (ADPT), which solves optimal control problems for continuous-time nonlinear systems. Based on the adaptive dynamic programming technique, the ADPT computes optimal feedback…
The ability to achieve precise and smooth trajectory tracking is crucial for ensuring the successful execution of various tasks involving robotic manipulators. State-of-the-art techniques require accurate mathematical models of the robot…
We propose a fundamental-lemma-free data-driven predictive control (DDPC) scheme for synthesizing model predictive control (MPC)-like policies directly from input-output data. Unlike the well-known DeePC approach and other DDPC methods that…