相关论文: Scenario-based Nonlinear Model Predictive Control …
We present Contingency Model Predictive Control (CMPC), a motion planning and control framework that optimizes performance objectives while simultaneously maintaining a contingency plan -- an alternate trajectory that avoids a potential…
Model predictive control (MPC) is of increasing interest in applications for constrained control of multivariable systems. However, one of the major obstacles to its broader use is the computation time and effort required to solve a…
The tunable approximated explicit model predictive control (MPC) comes with the benefits of real-time tunability without the necessity of solving the optimization problem online. This paper provides a novel self-tunable control policy that…
Model predictive control (MPC) provides a useful means for controlling systems with constraints, but suffers from the computational burden of repeatedly solving an optimization problem in real time. Offline (explicit) solutions for MPC…
Distributed model predictive control (MPC) is either cooperative or competitive, and control-theoretic properties have been less studied in the competitive (e.g., game theory) setting. This paper studies MPC with linear dynamics and a…
Improving the energy-efficiency of heating, ventilation, and air-conditioning (HVAC) systems has the potential to realize large economic and societal benefits. This paper concerns the system identification of a hybrid system model of a…
Long prediction horizons in Model Predictive Control (MPC) often prove to be efficient, however, this comes with increased computational cost. Recently, a Robust Model Predictive Control (RMPC) method has been proposed which exploits models…
The heating, ventilation and air-conditioning (HVAC) system accounts for substantial energy use in buildings, whereas a large group of occupants are still not actually feeling comfortable staying inside. This poses the issue of developing…
This paper describes a hierarchical control scheme for interconnected systems. The higher layer of the control structure is designed with robust Model Predictive Control (MPC) based on a reduced order dynamic model of the overall system and…
Flexibility provided by Combined Heat and Power (CHP) units in district heating networks is an important means to cope with increasing penetration of intermittent renewable energy resources, and various methods have been proposed to exploit…
In this paper, we study a problem of controlling cooling facilities and computational equipments for energy-efficient operations of data centers. Although a plethora of approaches have been proposed in previous literatures, there is a lack…
This paper presents the open-source stochastic model predictive control framework GRAMPC-S for nonlinear uncertain systems with chance constraints. It provides several uncertainty propagation methods to predict stochastic moments of the…
Model predictive control (MPC) has been successful in applications involving the control of complex physical systems. This class of controllers leverages the information provided by an approximate model of the system's dynamics to simulate…
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.…
A centralized model predictive controller (MPC), which is unaware of local uncertainties, for an affine discrete time nonlinear system is presented. The local uncertainties are assumed to be matched, bounded and structured. In order to…
Model Predictive Control (MPC) is an optimal control strategy suited for flood control of water resources infrastructure. Despite many studies on reservoir flood control and their theoretical contribution, optimisation methodologies have…
This paper presents a robust adaptive learning Model Predictive Control (MPC) framework for linear systems with parametric uncertainties and additive disturbances performing iterative tasks. The approach refines the parameter estimates…
Model Predictive Control (MPC) has established itself as the primary methodology for constrained control, enabling autonomy across diverse applications. While model fidelity is crucial in MPC, solving the corresponding optimization problem…
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…
A stochastic model predictive control (SMPC) approach is presented for discrete-time linear systems with arbitrary time-invariant probabilistic uncertainties and additive Gaussian process noise. Closed-loop stability of the SMPC approach is…