相关论文: Near-Optimal Rapid MPC using Neural Networks: A Pr…

Probabilistic circuits (PCs) such as sum-product networks efficiently represent large multi-variate probability distributions. They are preferred in practice over other probabilistic representations such as Bayesian and Markov networks…

Scenario-based optimization and control has proven to be an efficient approach to account for system uncertainty. In particular, the performance of scenario-based model predictive control (MPC) schemes depends on the accuracy of uncertainty…

Machine learning, as a tool to learn and model complicated (non)linear relationships between input and output data sets, has shown preliminary success in some HPC problems. Using machine learning, scientists are able to augment existing…

This paper investigates adaptive model predictive control (MPC) for a class of constrained linear systems with unknown model parameters. This is also posed as the dual control problem consisting of system identification and regulation. We…

We develop a three-component Model Predictive Control (MPC) algorithm to achieve output-reference tracking with prescribed performance for continuous-time nonlinear systems. One component is so-called funnel MPC, which achieves reference…

We propose a novel framework for designing a resilient Model Predictive Control (MPC) targeting uncertain linear systems under cyber attack. Assuming a periodic attack scenario, we model the system under Denial of Service (DoS) attack, also…

A natural optimization model that formulates many online resource allocation and revenue management problems is the online linear program (LP) in which the constraint matrix is revealed column by column along with the corresponding…

This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules. The primary advantage of the scheme over…

A learning approach for optimal feedback gains for nonlinear continuous time control systems is proposed and analysed. The goal is to establish a rigorous framework for computing approximating optimal feedback gains using neural networks.…

We present a sample-based Learning Model Predictive Controller (LMPC) for constrained uncertain linear systems subject to bounded additive disturbances. The proposed controller builds on earlier work on LMPC for deterministic systems.…

We propose a learning-based robust predictive control algorithm that compensates for significant uncertainty in the dynamics for a class of discrete-time systems that are nominally linear with an additive nonlinear component. Such systems…

We present a model predictive control (MPC) formulation to directly optimize economic criteria for linear constrained systems subject to disturbances and uncertain model parameters. The proposed formulation combines a certainty equivalent…

Self-driving cars operate in constantly changing environments and are exposed to a variety of uncertainties and disturbances. These factors render classical controllers ineffective, especially for lateral control. Therefore, an adaptive MPC…

We propose a novel approach to solving input- and state-constrained parametric mixed-integer optimal control problems using Differentiable Predictive Control (DPC). Our approach follows the differentiable programming paradigm by learning an…

A Learning Model Predictive Controller (LMPC) for linear system in presented. The proposed controller is an extension of the LMPC [1] and it aims to decrease the computational burden. The control scheme is reference-free and is able to…

Model Predictive Control (MPC) is a versatile approach capable of accommodating diverse control requirements that holds significant promise for a broad spectrum of industrial applications. Noteworthy challenges associated with MPC include…

Neural networks serve as effective controllers in a variety of complex settings due to their ability to represent expressive policies. The complex nature of neural networks, however, makes their output difficult to verify and predict, which…

This paper presents the Task-Parameter Nexus (TPN), a learning-based approach for online determination of the (near-)optimal control parameters of model-based controllers (MBCs) for tracking tasks. In TPN, a deep neural network is…

Learning-based control aims to construct models of a system to use for planning or trajectory optimization, e.g. in model-based reinforcement learning. In order to obtain guarantees of safety in this context, uncertainty must be accurately…

In this paper, we show the implementation of deep neural networks applied in process control. In our approach, we based the training of the neural network on model predictive control. Model predictive control is popular for its ability to…