相关论文: Scenario-based Nonlinear Model Predictive Control …
Suboptimal model predictive control is a technique that can reduce the computational cost of model predictive control (MPC) by exploiting its robustness to incomplete optimization. Instead of solving the optimal control problem exactly,…
This paper presents a robust hierarchical MPC (H-MPC) for dynamic systems with slow states subject to demand forecast uncertainty. The H-MPC has two layers: (i) the scheduling MPC at the upper layer with a relatively long…
This work presents a hierarchical architecture for the optimal management of an ensemble of steam generators, which needs to jointly sustain a common load. The coordination of independent subsystems is provided by a multi-layer control…
Nonlinear Model Predictive Control (NMPC) is a powerful approach for controlling highly dynamic robotic systems, as it accounts for system dynamics and optimizes control inputs at each step. However, its high computational complexity makes…
We introduce data to predictive control, D2PC, a framework to facilitate the design of robust and predictive controllers from data. The proposed framework is designed for discrete-time stochastic linear systems with output measurements and…
Automated vehicles require efficient and safe planning to maneuver in uncertain environments. Largely this uncertainty is caused by other traffic participants, e.g., surrounding vehicles. Future motion of surrounding vehicles is often…
This paper presents a model predictive control (MPC)-based online real-time adaptive control scheme for emergency voltage control in power systems. Despite tremendous success in various applications, real-time implementation of MPC for…
Stochastic model predictive control has been a successful and robust control framework for many robotics tasks where the system dynamics model is slightly inaccurate or in the presence of environment disturbances. Despite the successes, it…
Model predictive control (MPC) is a method to formulate the optimal scheduling problem for grid flexibilities in a mathematical manner. The resulting time-constrained optimization problem can be re-solved in each optimization time step…
Model predictive control (MPC) has proven useful in enabling safe and optimal motion planning for autonomous vehicles. In this paper, we investigate how to achieve MPC-based motion planning when a neural state-space model represents the…
Control of warm-water supply for dialysis treatment in a hospital environment is typical of safety-critical control problems. In order to guarantee the continuity of warm-water supply satisfying physical specifications for a wide range of…
Energy is now a first-class design constraint along with performance in all computing settings. Energy predictive modelling based on performance monitoring counts (PMCs) is the leading method used for prediction of energy consumption during…
The proper disposal and repurposing of end-of-life electric vehicle batteries are critical for maximizing their environmental benefits. This study introduces a robust model predictive control (MPC) framework designed to optimize the battery…
We present a computationally tractable framework for real-time predictive control of multi-chiller plants that involve both discrete and continuous control decisions coupled through nonlinear dynamics, resulting in a mixed-integer optimal…
This paper addresses the issue of power flow control for partially faulty microgrids. In microgrid control systems, faults may occur in both electrical and communication layers. This may have severe effects on the operation of microgrids.…
This paper proposes an adaptive stochastic Model Predictive Control (MPC) strategy for stable linear time invariant systems in the presence of bounded disturbances. We consider multi-input multi-output systems that can be expressed by a…
We propose a Stochastic MPC (SMPC) formulation for path planning with autonomous vehicles in scenarios involving multiple agents with multi-modal predictions. The multi-modal predictions capture the uncertainty of urban driving in distinct…
Stochastic parametrisations are used in weather and climate models to improve the representation of unpredictable unresolved processes. When compared to a deterministic model, a stochastic model represents `model uncertainty', i.e., sources…
We propose a stochastic MPC scheme using an optimization over the initial state for the predicted trajectory. Considering linear discrete-time systems under unbounded additive stochastic disturbances subject to chance constraints, we use…
Heat pump and thermal energy storage (HPTES) systems, which are widely utilized in modern buildings for providing domestic hot water, contribute to a large share of household electricity consumption. With the increasing integration of…