Related papers: Neural Parameter-varying Data-enabled Predictive C…
Mean arterial blood pressure (MAP) dynamics estimation and its automated regulation could benefit the clinical and emergency resuscitation of critical patients. In order to address the variability and complexity of the MAP response of a…
The accuracy of the underlying model predictions is crucial for the success of model predictive control (MPC) applications. If the model is unable to accurately analyze the dynamics of the controlled system, the performance and stability…
The inherent complexity of boundary plasma, characterized by multi-scale and multi-physics challenges, has historically restricted high-fidelity simulations to scientific research due to their intensive computational demands. Consequently,…
Data-Enabled Predictive Control (DeePC) has emerged as a powerful framework for controlling unknown systems directly from input-output data. For nonlinear systems, recent work has proposed selecting relevant subsets of data columns based on…
Data-enabled predictive control (DeePC) is a recently established form of Model Predictive Control (MPC), based on behavioral systems theory. While eliminating the need to explicitly identify a model, it requires an additional…
Numerical Weather Prediction (NWP) models represent sub-grid processes using parameterizations, which are often complex and a major source of uncertainty in weather forecasting. In this work, we devise a simple machine learning (ML)…
Drift vehicle control offers valuable insights to support safe autonomous driving in extreme conditions, which hinges on tracking a particular path while maintaining the vehicle states near the drift equilibrium points (DEP). However,…
This paper presents a data-driven min-max model predictive control (MPC) scheme for linear parameter-varying (LPV) systems. Contrary to existing data-driven LPV control approaches, we assume that the scheduling signal is unknown during…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to a desired pose in…
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…
Pre-training & fine-tuning is a prevalent paradigm in computer vision (CV). Recently, parameter-efficient transfer learning (PETL) methods have shown promising performance in adapting to downstream tasks with only a few trainable…
Autonomous Micro Aerial Vehicles (MAVs), particularly quadrotors, have shown significant potential in assisting humans with tasks such as construction and package delivery. These applications benefit greatly from the use of cables for…
Driverless vehicles are complex systems operating in constantly changing environments. Automated driving is achieved by controlling the coupled longitudinal and lateral vehicle dynamics. Model predictive control is one of the most promising…
Path tracking (PT) controllers capable of replicating race driving techniques, such as drifting beyond the limits of handling, have the potential of enhancing active safety in critical conditions. This paper presents a nonlinear model…
In this paper, we present a Deep Reinforcement Learning (RL)-driven Adaptive Stochastic Nonlinear Model Predictive Control (SNMPC) to optimize uncertainty handling, constraints robustification, feasibility, and closed-loop performance. To…
In this paper, we propose a data-driven predictive control scheme based on measured frequency-domain data of the plant. This novel scheme complements the well-known data-driven predictive control (DeePC) approach based on time series data.…
This article proposes a novel Nonlinear Model Predictive Control (NMPC) framework for Micro Aerial Vehicle (MAV) autonomous navigation in constrained environments. The introduced framework allows us to consider the nonlinear dynamics of…
In this paper, a systematic approach is developed to embed the dynamical description of a nonlinear system into a linear parameter-varying (LPV) system representation. Initially, the nonlinear functions in the model representation are…
The Linear Parameter-Varying (LPV) framework has been introduced with the intention to provide stability and performance guarantees for analysis and controller synthesis for Nonlinear (NL) systems via convex methods. By extending results of…
The Infrared Atmospheric Sounding Interferometer (IASI) on board the MetOp satellite series provides important measurements for Numerical Weather Prediction (NWP). Retrieving accurate atmospheric parameters from the raw data provided by…