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Equilibrium equations in the form of complementarity conditions often appear as constraints in optimization problems. Problems of this type are commonly referred to as mathematical programs with complementarity constraints (MPCCs). A…
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…
Motivated by a class of applied problems arising from physical layer based security in a digital communication system, in particular, by a secrecy sum-rate maximization problem, this paper studies a nonsmooth, difference-of-convex (dc)…
A linear program with linear complementarity constraints (LPCC) requires the minimization of a linear objective over a set of linear constraints together with additional linear complementarity constraints. This class has emerged as a…
This paper proposes a stabilising model predictive control (MPC) scheme with preview information of disturbance for nonlinear systems. The proposed MPC algorithm is able to not only reject disturbance by making use of disturbance preview…
The paper proposes, an algorithm to produce novel m-point (for any integer m>=2) binary non-stationary subdivision scheme. It has been developed using uniform trigonometric B-spline basis functions and smoothness is being analyzed using the…
In this paper, we present a robust adaptive model predictive control (MPC) scheme for linear systems subject to parametric uncertainty and additive disturbances. The proposed approach provides a computationally efficient formulation with…
The problem of achieving a good trade-off in Stochastic Model Predictive Control between the competing goals of improving the average performance and reducing conservativeness, while still guaranteeing recursive feasibility and low…
We consider the Mathematical Program with Complementarity Constraints (MPCC). One of the main challenges in solving this problem is the systematic failure of standard Constraint Qualifications (CQs). Carefully accounting for the…
For mathematical programs with complementarity constraints (MPCC), we study the stability properties of their Scholtes regularization. Our goal is to relate nondegenerate C-stationary points of MPCC with nondegenerate Karush-Kuhn-Tucker…
We present a new framework for the solution of mathematical programs with equilibrium constraints (MPECs). In this algorithmic framework, an MPECs is viewed as a concentration of an unconstrained optimization which minimizes the…
This paper presents an efficient suboptimal model predictive control (MPC) algorithm for nonlinear switched systems subject to minimum dwell time constraints (MTC). While MTC are required for most physical systems due to stability, power…
Model predictive control (MPC) of hybrid dynamical systems is challenging because the associated optimization problem is nonsmooth and the resulting feedback law is discontinuous. This paper develops real-time MPC algorithms for nonlinear…
This paper investigates the combination of model predictive control (MPC) concepts and posterior sampling techniques and proposes a simple constraint tightening technique to introduce cautiousness during explorative learning episodes. The…
In this paper, we are concerned with stationarity conditions and qualification conditions for optimization problems with disjunctive constraints. This class covers, among others, optimization problems with complementarity, vanishing, or…
Bregman proximal-type algorithms (BPs), such as mirror descent, have become popular tools in machine learning and data science for exploiting problem structures through non-Euclidean geometries. In this paper, we show that BPs can get…
We introduce Markov chain Monte Carlo (MCMC) algorithms based on numerical approximations of piecewise-deterministic Markov processes obtained with the framework of splitting schemes. We present unadjusted as well as adjusted algorithms,…
This paper proposes a parallelizable algorithm for linear-quadratic model predictive control (MPC) problems with state and input constraints. The algorithm itself is based on a parallel MPC scheme that has originally been designed for…
RBM-MPC is a computationally efficient variant of Model Predictive Control (MPC) in which the Random Batch Method (RBM) is used to speed up the finite-horizon optimal control problems at each iteration. In this paper, stability and…
Constrained model predictive control (MPC) is a widely used control strategy, which employs moving horizon-based on-line optimisation to compute the optimum path of the manipulated variables. Nonlinear MPC can utilize detailed models but it…