相关论文: Image-Based Model Predictive Control via Dynamic M…

Tendon-Driven Continuum Robots (TDCRs) have the potential to be used in minimally invasive surgery and industrial inspection, where the robot must enter narrow and confined spaces. We propose a Model Predictive Control (MPC) approach to…

This paper introduces a Nonlinear Model Predictive Control (N-MPC) framework exploiting a Deep Neural Network for processing onboard-captured depth images for collision avoidance in trajectory-tracking tasks with UAVs. The network is…

The scientific computation methods development in conjunction with artificial intelligence technologies remains a hot research topic. Finding a balance between lightweight and accurate computations is a solid foundation for this direction.…

In model-predictive control (MPC), achieving the best closed-loop performance under a given computational resource is the underlying design consideration. This paper analyzes the MPC design problem with control performance and required…

We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics from first principles and selectively…

The dynamic mode decomposition (DMD) is a broadly applicable dimensionality reduction algorithm that approximates a matrix containing time-series data by the outer product of a matrix of exponentials, representing Fourier-like time…

The dynamic mode decomposition (DMD) has become a leading tool for data-driven modeling of dynamical systems, providing a regression framework for fitting linear dynamical models to time-series measurement data. We present a simple…

Model Predictive Control (MPC) is an enabling technology in applications requiring controlling physical processes in an optimized way under constraints on inputs and outputs. However, in MPC closed-loop performance is pushed to the limits…

We investigate nonlinear model predictive control (MPC) with terminal conditions in the Koopman framework using extended dynamic mode decomposition (EDMD) to generate a data-based surrogate model for prediction and optimization. We…

Decarbonizing the global energy supply requires more efficient heating and cooling systems. Model predictive control enhances the operation of cooling and heating systems but depends on accurate system models, often based on control…

This paper presents a Model-Inspired Distributionally Robust Data-enabled Predictive Control (MDR-DeePC) framework for systems with partially known and uncertain dynamics. The proposed method integrates model-based equality constraints for…

Controlling Heating, Ventilation and Air Conditioning (HVAC) system to maintain occupant's indoor thermal comfort is important to energy-efficient buildings and the development of smart cities. In this paper, we formulate a model predictive…

Spatial control methods using additional modules on pretrained diffusion models have gained attention for enabling conditional generation in natural images. These methods guide the generation process with new conditions while leveraging the…

Dynamic Mode Decomposition (DMD) is a data-driven and model-free decomposition technique. It is suitable for revealing spatio-temporal features of both numerically and experimentally acquired data. Conceptually, DMD performs a…

The dynamic mode decomposition (DMD) is a data-driven method used for identifying the dynamics of complex nonlinear systems. It extracts important characteristics of the underlying dynamics using measured time-domain data produced either by…

This work presents DMPC (Data-and Model-Driven Predictive Control) to solve control problems in which some of the constraints or parts of the objective function are known, while others are entirely unknown to the controller. It is assumed…

Due to high dimensionality and non-convexity, real-time optimal control using full-order dynamics models for legged robots is challenging. Therefore, Nonlinear Model Predictive Control (NMPC) approaches are often limited to reduced-order…

We consider the problem of simultaneous control and parameter estimation when the model is available only as a differentiable physics simulator. We propose a receding-horizon control framework in which a model predictive control (MPC)…

Accurate and efficient wave-optics simulation of partially coherent light transport systems is critical for the design of advanced optical systems, ranging from computational lithography to diffraction-limited storage rings (DLSR). However,…

Aero-optical beam control relies on the development of low-latency forecasting techniques to quickly predict wavefronts aberrated by the Turbulent Boundary Layer (TBL) around an airborne optical system, and its study applies to a…