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A robust adaptive model predictive control (MPC) algorithm is presented for linear, time invariant systems with unknown dynamics and subject to bounded measurement noise. The system is characterized by an impulse response model, which is…
For active intervention tasks in underwater environments, the use of autonomous vehicles is just now emerging as an active area of research. During operation, for various reasons, the robot might find itself on a collision course with an…
In this paper we present a model-based control approach for autonomous flight of kites for wind power generation. Predictive models are considered to compensate for delay in the kite dynamics. We apply Model Predictive Control (MPC), with…
Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…
Though larger vessels may be well-equipped to deal with wavy conditions, smaller vessels are often more susceptible to disturbances. This paper explores the development of a nonlinear model predictive control (NMPC) system for Uncrewed…
This work introduces a formulation of model predictive control (MPC) which adaptively reasons about the complexity of the model based on the task while maintaining feasibility and stability guarantees. Existing MPC implementations often…
Time-optimal motion planning of autonomous vehicles in complex environments is a highly researched topic. This paper describes a novel approach to optimize and execute locally feasible trajectories for the maneuvering of a truck-trailer…
This paper investigates robust tube-based Model Predictive Control (MPC) of a tiltwing Vertical Take-Off and Landing (VTOL) aircraft subject to wind disturbances and model uncertainty. Our approach is based on a Difference of Convex (DC)…
Agile earth observation satellites employ multiple actuators to enable flexible and responsive imaging capabilities. While significant advancements in actuator technology have enhanced satellites' torque and momentum, relatively little…
We propose a novel approach to design a robust Model Predictive Controller (MPC) for constrained uncertain linear systems. The uncertain system is modeled as linear parameter varying with additive disturbance. Set bounds for the system…
This paper proposes a novel control method for an autonomous wheel loader, enabling time-efficient navigation to an arbitrary goal pose. Unlike prior works which combine high-level trajectory planners with Model Predictive Control (MPC), we…
Model predictive control (MPC) is a powerful strategy for planning and control in autonomous mobile robot navigation. However, ensuring safety in real-world deployments remains challenging due to the presence of disturbances and measurement…
In this paper, we propose an MPC-based precision cooling strategy (PCS) for energy efficient thermal management of automotive air conditioning (A/C) system. The proposed PCS is able to provide precise tracking of the time-varying cooling…
This work presents a novel Nonlinear Model Predictive Control (NMPC) strategy for high-speed Maglev vehicles that explicitly incorporates mechanical suspension dynamics into the control model. Unlike conventional approaches, which often…
Model Predictive Control (MPC) is widely adopted for agile multirotor vehicles, yet achieving both stability and obstacle-free flight is particularly challenging when a payload is suspended beneath the airframe. This paper introduces a…
Perovskite solar cells (PSCs) represent a breakthrough in photovoltaic technology, combining high power conversion efficiencies (PCEs), ease of fabrication, and tunable optoelectronic properties. However, their commercial viability is…
Connectivity-enabled automation of distributed control systems allow for better anticipation of system disturbances and better prediction of the effects of actuator limitations on individual agents when incorporating a model. Automated…
We propose an approach to design a Model Predictive Controller (MPC) for constrained Linear Time Invariant systems performing an iterative task. The system is subject to an additive disturbance, and the goal is to learn to satisfy state and…
We present the design of a safe Adaptive Cruise Control (ACC) which uses road grade and lead vehicle motion preview. The ACC controller is designed by using a Model Predictive Control (MPC) framework to optimize comfort, safety,…
We propose a novel robust Model Predictive Control (MPC) scheme for nonlinear multi-input multi-output systems of relative degree one with stable internal dynamics. The proposed algorithm is a combination of funnel MPC, i.e., MPC with a…