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This paper reports on a new error-state Model Predictive Control (MPC) approach to connected matrix Lie groups for robot control. The linearized tracking error dynamics and the linearized equations of motion are derived in the Lie algebra.…
Inexact methods for model predictive control (MPC), such as real-time iterative schemes or time-distributed optimization, alleviate the computational burden of exact MPC by providing suboptimal solutions. While the asymptotic stability of…
This paper presents Residual Koopman MPC (RK-MPC), a Koopman-based, data-driven model predictive control framework for quadruped locomotion that improves prediction fidelity while preserving real-time tractability. RK-MPC augments a nominal…
Despite great successes, model predictive control (MPC) relies on an accurate dynamical model and requires high onboard computational power, impeding its wider adoption in engineering systems, especially for nonlinear real-time systems with…
We present a stochastic model predictive control (SMPC) framework for linear systems subject to possibly unbounded disturbances. State of the art SMPC approaches with closed-loop chance constraint satisfaction recursively initialize the…
Robust Model Predictive Control (MPC) for nonlinear systems is a problem that poses significant challenges as highlighted by the diversity of approaches proposed in the last decades. Often compromises with respect to computational load,…
Model Predictive Control (MPC) of an unknown system that is modelled by Gaussian Process (GP) techniques is studied in this paper. Using GP, the variances computed during the modelling and inference processes allow us to take model…
This paper describes autonomous racing of RC race cars based on mathematical optimization. Using a dynamical model of the vehicle, control inputs are computed by receding horizon based controllers, where the objective is to maximize…
In this paper, we present a data-driven distributed model predictive control (MPC) scheme to stabilise the origin of dynamically coupled discrete-time linear systems subject to decoupled input constraints. The local optimisation problems…
The configuration of most robotic systems lies in continuous transformation groups. However, in mobile robot trajectory tracking, many recent works still naively utilize optimization methods for elements in vector space without considering…
This paper presents the numerical discretization methods of the continuous-time linear-quadratic optimal control problems (LQ-OCPs) with time delays. We describe the weight matrices of the LQ-OCPs as differential equations systems, allowing…
The unconstrained binary quadratic programming (UBQP) problem is a class of problems of significant importance in many practical applications, such as in combinatorial optimization, circuit design, and other fields. The positive…
Most MPC (Model Predictive Control) algorithms used in industries and studied in the control academia use a two-term QP (quadratic programming), where the first term is the weighted norm of the output errors, and the second term is that of…
In contrast to humans and animals who naturally execute seamless motions, learning and smoothly executing sequences of actions remains a challenge in robotics. This paper introduces a novel skill-agnostic framework that learns to sequence…
A Model Predictive Controller for Tracking is introduced for rendezvous with non-cooperative tumbling targets in active debris removal applications. The target's three-dimensional non-periodic rotational dynamics as well as other state and…
Optimal control is often used in robotics for planning a trajectory to achieve some desired behavior, as expressed by the cost function. Most works in optimal control focus on finding a single optimal trajectory, which is then typically…
In this letter, an accelerated quadratic programming (QP) algorithm is proposed based on the proximal gradient method. The algorithm can achieve convergence rate $O(1/p^{\alpha})$, where $p$ is the iteration number and $\alpha$ is the given…
We address the problem of executing large client orders in continuous double-auction markets under time and liquidity constraints. We propose a model predictive control (MPC) framework that balances three competing objectives: order…
We propose an SQP algorithm for mathematical programs with vanishing constraints which solves at each iteration a quadratic program with linear vanishing constraints. The algorithm is based on the newly developed concept of $\mathcal…
In this paper, a novel Q-learning scheduling method for the current controller of switched reluctance motor (SRM) drive is investigated. Q-learning algorithm is a class of reinforcement learning approaches that can find the best…