Related papers: Data-driven control-oriented modelling for MPC-bas…
This article provides an overview of model predictive control (MPC) frameworks for dynamic operation of nonlinear constrained systems. Dynamic operation is often an integral part of the control objective, ranging from tracking of reference…
Automated inspection with Unmanned Aerial Systems (UASs) is a transformative capability set to revolutionize various application domains. However, this task is inherently complex, as it demands the seamless integration of perception,…
Microfluidics, the study of fluids in microscopic channels, has led to important advances in fields as diverse as microelectronics, biotechnology and chemistry. Microfluidic research is primarily based on the use of microfluidic chips,…
In many specific scenarios, accurate and effective system identification is a commonly encountered challenge in the model predictive control (MPC) formulation. As a consequence, the overall system performance could be significantly weakened…
An optimization model of a stormwater pond is developed to improve the performance of the system in terms of water quantity and quality. Nowadays, stormwater management systems play an important role in mitigating the impacts of…
Detention ponds can mitigate flooding and improve water quality by allowing the settlement of pollutants. Typically, they are operated with fully open orifices and weirs (i.e., passive control). Active controls can improve the performance…
For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…
The real-time operation of open water systems is essential for ensuring operational safety, satisfying operational requirements, and optimizing energy usage. However, existing rule-based control strategies rely heavily on human experience,…
Motivated by large-scale but computationally constrained settings, e.g., the Internet of Things, we present a novel data-driven distributed control algorithm that is synthesized directly from trajectory data. Our method, data-driven…
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.…
We propose a purely data-driven model predictive control (MPC) scheme to control unknown linear time-invariant systems with guarantees on stability and constraint satisfaction in the presence of noisy data. The scheme predicts future…
The dramatic increase of observational data across industries provides unparalleled opportunities for data-driven decision making and management, including the manufacturing industry. In the context of production, data-driven approaches can…
We study output reference tracking for unknown continuous-time systems with arbitrary relative degree. The control objective is to keep the tracking error within predefined time-varying bounds while measurement data is only available at…
In this paper, we present a distributed model predictive control (DMPC) scheme for dynamically decoupled systems which are subject to state constraints, coupling state constraints and input constraints. In the proposed control scheme,…
Trajectory planning and control have historically been separated into two modules in automated driving stacks. Trajectory planning focuses on higher-level tasks like avoiding obstacles and staying on the road surface, whereas the controller…
This paper proposes Select-Data-driven Predictive Control (Select-DPC), a new method for controlling nonlinear systems using output-feedback for which data are available but an explicit model is not. At each timestep, Select-DPC employs…
In this paper, we present a data-driven model predictive control (MPC) scheme that is capable of stabilizing unknown linear time-invariant systems under the influence of process disturbances. To this end, Willems' lemma is used to predict…
We show that the explicit realization of data-driven predictive control (DPC) for linear deterministic systems is more tractable than previously thought. To this end, we compare the optimal control problems (OCP) corresponding to…
Control of a dynamical system without the knowledge of dynamics is an important and challenging task. Modern machine learning approaches, such as deep neural networks (DNNs), allow for the estimation of a dynamics model from control inputs…
This work presents DMPC (Data-and Model-Driven Predictive Control) to solve control problems in which some of the constraints or parts of the objective function are known, while others are entirely unknown to the controller. It is assumed…