相关论文: Data-Driven Model-Free Adaptive Predictive Control…

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…

Autopilots for fixed-wing aircraft are typically designed based on linearized aerodynamic models consisting of stability and control derivatives obtained from wind-tunnel testing. The resulting local controllers are then pieced together…

Computing the receding horizon optimal control of nonlinear hybrid systems is typically prohibitively slow, limiting real-time implementation. To address this challenge, we propose a layered Model Predictive Control (MPC) architecture for…

We propose model predictive funnel control, a novel model predictive control (MPC) scheme building upon recent results in funnel control. The latter is a high-gain feedback methodology that achieves evolution of the measured output within…

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…

Direct data-driven control methods are known to be vulnerable to uncertainty in stochastic systems. In this paper, we propose a new robust data-driven predictive control (DDPC) framework. By analyzing non-unique solutions to behavioral…

Robust Model Predictive Control (MPC) for nonlinear systems is a problem that poses significant challenges as highlighted by the diversity of approaches proposed in the last decades. Often compromises with respect to computational load,…

This paper presents a novel robust predictive controller for constrained nonlinear systems that is able to track piece-wise constant setpoint signals. The tracking model predictive controller presented in this paper extends the nonlinear…

To address feasibility issues in model predictive control (MPC), most implementations relax state constraints by using slack variables and adding a penalty to the cost. We propose an alternative strategy: relaxing the initial state…

We propose a new matrix pencil based approach for design of state-feedback and output-feedback stabilizing controllers for a general class of uncertain nonlinear strict-feedback-like systems. While the dynamic controller structure is based…

This correspondence proposes a kind of model-free adaptive control (MFAC) on the basis of full-form equivalent-dynamic-linearization model (EDLM) for the multivariable nonlinear system. Compared with the current MFAC, i) this control law…

A Learning Model Predictive Controller (LMPC) is presented and tailored to platooning and Connected Autonomous Vehicles (CAVs) applications. The proposed controller builds on previous work on nonlinear LMPC, adapting its architecture and…

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…

Accurate path following is challenging for autonomous robots operating in uncertain environments. Adaptive and predictive control strategies are crucial for a nonlinear robotic system to achieve high-performance path following control. In…

This paper presents a comprehensive overview of data-driven model predictive control, highlighting state-of-the-art methodologies and their numerical implementation. The discussion begins with a brief review of conventional model predictive…

In this paper, we propose a distributed model predictive control (DMPC) scheme for linear time-invariant constrained systems which admit a separable structure. To exploit the merits of distributed computation algorithms, the stabilizing…

This paper presents a novel, model-free, data-driven control synthesis technique known as dynamic mode adaptive control (DMAC) for synthesizing controllers for complex systems whose mathematical models are not suitable for classical control…

We study the problem of global exponential stabilization of a force- and torque-controlled unicycle model in discrete time. To this end, we extend a recently introduced approach to model predictive control (MPC) in which a flexible number…

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…

This paper presents a data-driven min-max model predictive control (MPC) scheme for linear parameter-varying (LPV) systems. Contrary to existing data-driven LPV control approaches, we assume that the scheduling signal is unknown during…