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District cooling energy plants (DCEPs) consisting of chillers, cooling towers, and thermal energy storage (TES) systems consume a considerable amount of electricity. Optimizing the scheduling of the TES and chillers to take advantage of…
In many state-of-the-art control approaches for power systems with storage units, an explicit model of the storage dynamics is required. With growing numbers of storage units, identifying these dynamics can be cumbersome. This paper employs…
Model predictive control (MPC) has established itself as the primary methodology for constrained control, enabling general-purpose robot autonomy in diverse real-world scenarios. However, for most problems of interest, MPC relies on the…
This paper develops a distributed model predictive control (DMPC) strategy for a class of discrete-time linear systems with consideration of globally coupled constraints. The DMPC under study is based on the dual problem concerning all…
In this paper, we address the problem of reducing the computational burden of Model Predictive Control (MPC) for real-time robotic applications. We propose TransformerMPC, a method that enhances the computational efficiency of MPC…
We consider integer-restricted optimal control of systems governed by abstract semilinear evolution equations. This includes the problem of optimal control design for certain distributed parameter systems endowed with multiple actuators,…
Model predictive control (MPC) is a widely used technique for temperature set-point tracking and energy optimization of Heating Ventilation and Air Conditioning (HVAC) systems in buildings. Unfortunately, a nonlinear thermal building model…
Model predictive control (MPC) is increasingly being considered for control of fast systems and embedded applications. However, the MPC has some significant challenges for such systems. Its high computational complexity results in high…
Iterative learning control (ILC) improves the performance of a repetitive system by learning from previous trials. ILC can be combined with Model Predictive Control (MPC) to mitigate non-repetitive disturbances, thus improving overall…
We propose a data-driven Model Predictive Control (MPC) framework that employs a transformer encoder to generate multi-step predictions. To handle the nonconvex attention mechanism, we derive difference of convex (DC) representations of the…
Binary on/off thrusters are commonly used for spacecraft attitude and position control during proximity operations. However, their discrete nature poses challenges for conventional continuous control methods. The control of these discrete…
In this note, we consider infinite horizon optimal control problems with deterministic systems. Since exact solutions to these problems are often intractable, we propose a parallel model predictive control (MPC) method that provides an…
Cooperative Distributed Model Predictive Control (DiMPC) architecture employs local MPC controllers to control different subsystems, exchanging information with each other through an iterative procedure to enhance overall control…
This paper presents a time-optimal Model Predictive Control (MPC) scheme for linear discrete-time systems subject to multiplicative uncertainties represented by interval matrices. To render the uncertainty propagation computationally…
Cloud computing creates new possibilities for control applications by offering powerful computation and storage capabilities. In this paper, we propose a novel cloud-assisted model predictive control (MPC) framework in which we…
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…
A comprehensive approach addressing identification and control for learningbased Model Predictive Control (MPC) for linear systems is presented. The design technique yields a data-driven MPC law, based on a dataset collected from the…
This paper proposes a learning-based model predictive control (MPC) approach for the thermal control of a four-zone smart building. The objectives are to minimize energy consumption and maintain the residents' comfort. The proposed control…
We propose a hybrid reinforcement learning (RL) and model predictive control (MPC) framework for mixed-integer optimal control, where discrete variables enter the cost and dynamics but not the constraints. Existing hierarchical approaches…
Model Predictive Control (MPC) is an optimal control algorithm with strong stability and robustness guarantees. Despite its popularity in robotics and industrial applications, the main challenge in deploying MPC is its high computation…