Related papers: High-Dimensional Statistical Process Control via M…
Model predictive control (MPC) has been successful in applications involving the control of complex physical systems. This class of controllers leverages the information provided by an approximate model of the system's dynamics to simulate…
Probabilistic Manifold Decomposition (PMD)\cite{doi:10.1137/25M1738863}, developed in our earlier work, provides a nonlinear model reduction by embedding high-dimensional dynamics onto low-dimensional probabilistic manifolds. The PMD has…
The control of complex systems is of critical importance in many branches of science, engineering, and industry. Controlling an unsteady fluid flow is particularly important, as flow control is a key enabler for technologies in energy…
Model Predictive Control (MPC) offers a versatile framework for constraint handling and multi-objective optimisation, yet practical application faces challenges regarding initial and recursive feasibility, robustness against model…
Suboptimal model predictive control is a technique that can reduce the computational cost of model predictive control (MPC) by exploiting its robustness to incomplete optimization. Instead of solving the optimal control problem exactly,…
One major issue in learning-based model predictive control (MPC) for autonomous driving is the contradiction between the system model's prediction accuracy and computation efficiency. The more situations a system model covers, the more…
We present foundations for using Model Predictive Control (MPC) as a differentiable policy class for reinforcement learning in continuous state and action spaces. This provides one way of leveraging and combining the advantages of…
Model predictive control (MPC) has proven useful in enabling safe and optimal motion planning for autonomous vehicles. In this paper, we investigate how to achieve MPC-based motion planning when a neural state-space model represents the…
Space-Time Projection (STP) is introduced as a data-driven forecasting approach for high-dimensional and time-resolved data. The method computes extended space-time proper orthogonal modes from training data spanning a prediction horizon…
The combination of policy search and deep neural networks holds the promise of automating a variety of decision-making tasks. Model Predictive Control (MPC) provides robust solutions to robot control tasks by making use of a dynamical model…
We present a novel data-driven model predictive control (MPC) approach to control unknown nonlinear systems using only measured input-output data with closed-loop stability guarantees. Our scheme relies on the data-driven system…
Dynamical Systems (DS) are an effective and powerful means of shaping high-level policies for robotics control. They provide robust and reactive control while ensuring the stability of the driving vector field. The increasing complexity of…
The success of algorithms in the analysis of high-dimensional data is often attributed to the manifold hypothesis, which supposes that this data lie on or near a manifold of much lower dimension. It is often useful to determine or estimate…
Nonlinear Model Predictive Control (NMPC) offers a powerful approach for controlling complex nonlinear systems, yet faces two key challenges. First, accurately modeling nonlinear dynamics remains difficult. Second, variables directly…
Sensor signals acquired in the industrial process contain rich information which can be analyzed to facilitate effective monitoring of the process, early detection of system anomalies, quick diagnosis of fault root causes, and intelligent…
Statistical inference for spatial processes from partially realized or scattered data has seen voluminous developments in diverse areas ranging from environmental sciences to business and economics. Inference on the associated rates of…
We introduce EfficientTDMPC, a sample-efficient model-based reinforcement learning method for continuous control built on the TD-MPC family of algorithms. Central to this family is a planner that aims to find an action sequence that…
Statistic modeling and data-driven learning are the two vital fields that attract many attentions. Statistic models intend to capture and interpret the relationships among variables, while data-based learning attempt to extract information…
In this paper, we propose a combined Magnitude Saturated Adaptive Control (MSAC)-Model Predictive Control (MPC) approach to linear quadratic tracking optimal control problems with parametric uncertainties and input saturation. The proposed…
Model predictive control (MPC) faces significant limitations when applied to systems evolving on nonlinear manifolds, such as robotic attitude dynamics and constrained motion planning, where traditional Euclidean formulations struggle with…