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We propose a mixed-integer quadratic programming (QP) solver that is suitable for use in embedded applications, for example, hybrid model predictive control (MPC). The solver is based on the branch-and-bound method, and uses a recently…
A practical fault-tolerant quantum computer is worth looking forward to as it provides applications that outperform their known classical counterparts. However, millions of interacting qubits with stringent criteria are required, which is…
Thanks to recent advancements in accelerating non-linear model predictive control (NMPC), it is now feasible to deploy whole-body NMPC at real-time rates for humanoid robots. However, enforcing inequality constraints in real time for such…
Non-convex quadratically constrained quadratic programming (QCQP) problems have numerous applications in signal processing, machine learning, and wireless communications, albeit the general QCQP is NP-hard, and several interesting special…
This paper presents a data-driven model predictive control framework for mobile robots navigating in dynamic environments, leveraging Koopman operator theory. Unlike the conventional Koopman-based approaches that focus on the linearization…
Harmonic model predictive control (HMPC) is a model predictive control (MPC) formulation which displays several benefits over other MPC formulations, especially when using a small prediction horizon. These benefits, however, come at the…
Automating complex industrial robots requires precise nonlinear control and efficient energy management. This paper introduces a data-driven nonlinear model predictive control (NMPC) framework to optimize control under multiple objectives.…
In this paper, we introduce an efficient algorithm for the quantum amplitude estimation task which works in noisy intermediate-scale quantum(NISQ) devices. The quantum amplitude estimation is an important problem which has various…
We propose Kernel Predictive Control (KPC), a learning-based predictive control strategy that enjoys deterministic guarantees of safety. Noise-corrupted samples of the unknown system dynamics are used to learn several models through the…
NISQ devices have several physical limitations and unavoidable noisy quantum operations, and only small circuits can be executed on a quantum machine to get reliable results. This leads to the quantum hardware under-utilization issue. Here,…
This paper introduces the quadratically-constrained quadratic programming (QCQP) framework recently added in HPIPM alongside the original quadratic-programming (QP) framework. The aim of the new framework is unchanged, namely providing the…
Quantum computers promise to solve certain problems more efficiently than their digital counterparts. A major challenge towards practically useful quantum computing is characterizing and reducing the various errors that accumulate during an…
In modern power systems, the integration of converter-interfaced generations requires the development of electromagnetic transient network simulation programs (EMTP) that can capture rapid fluctuations. However, as the power system scales,…
The use of advanced quantum neuron models for pattern recognition applications requires fault tolerance. Therefore, it is not yet possible to test such models on a large scale in currently available quantum processors. As an alternative, we…
Nonlinear model predictive control has become a popular approach to deal with highly nonlinear and unsteady state systems, the performance of which can however deteriorate due to unaccounted uncertainties. Model predictive control is…
Variational quantum algorithms (VQAs) have emerged as a promising near-term technique to explore practical quantum advantage on noisy intermediate-scale quantum (NISQ) devices. However, the inefficient parameter training process due to the…
Quantum phase estimation (QPE) is one of the core algorithms for quantum computing. It has been extensively studied and applied in a variety of quantum applications such as the Shor's factoring algorithm, quantum sampling algorithms and the…
Noisy Intermediate-Scale Quantum (NISQ) algorithms require novel paradigms of error mitigation. To obtain noise-robust quantum computers, each logical qubit is equipped with hundreds or thousands of physical qubits. However, it is not…
In recent years, Noisy Intermediate Scale Quantum (NISQ) computers have been widely used as a test bed for quantum dynamics. This work provides a new hardware-agnostic framework for modelling the Markovian noise and dynamics of quantum…
This paper presents a model predictive control (MPC) for dynamic systems whose nonlinearity and uncertainty are modelled by deep neural networks (NNs), under input and state constraints. Since the NN output contains a high-order complex…