相关论文: Component Stability in Low-Space Massively Paralle…

In this paper, we address the problem of designing stochastic model predictive control (MPC) schemes for linear systems affected by unbounded disturbances. The contribution of the paper is twofold. First, motivated by the difficulty of…

In this technical report, we establish the asymptotic stability of MPC under plant-model mismatch for problems where the origin remains a steady state despite mismatch. This class of problems includes, but is not limited to, inventory…

A robust model predictive control scheme for a class of constrained norm-bounded uncertain discrete-time linear systems is developed under the hypothesis that only partial state measurements are available for feedback. Off-line calculations…

In distributed ML applications, shared parameters are usually replicated among computing nodes to minimize network overhead. Therefore, proper consistency model must be carefully chosen to ensure algorithm's correctness and provide high…

Probabilistic principal component analysis (PPCA) is a probabilistic reformulation of principal component analysis (PCA), under the framework of a Gaussian latent variable model. To improve the robustness of PPCA, it has been proposed to…

With the increasing penetration of Inverter-Based Resources (IBRs), power system stability constraints must be incorporated into the operational framework, transforming it into stability-constrained optimization. Currently, there exist…

Model Predictive Control (MPC) is a widely known control method that has proved to be particularly effective in multivariable and constrained control. Closed-loop stability and recursive feasibility can be guaranteed by employing accurate…

For systems with uncertain linear models, bounded additive disturbances and state and control constraints, a robust model predictive control algorithm incorporating online model adaptation is proposed. Sets of model parameters are…

Secure Multi-Party Computation (MPC) is an important enabling technology for data privacy in modern distributed applications. Currently, proof methods for low-level MPC protocols are primarily manual and thus tedious and error-prone, and…

Maintaining balance while walking is not a simple task for a humanoid robot because of its complex dynamics. The presence of a persistent disturbance makes this task even more challenging, as it can cause a loss of balance and ultimately…

This work proposes a causal and recursive algorithm for solving the "robust" principal components' analysis (PCA) problem. We primarily focus on robustness to correlated outliers. In recent work, we proposed a new way to look at this…

This paper deals with the problem of covariance stabilization for a class of linear stochastic discrete-time systems in the Stochastic Model Predictive Control (SMPC) framework. The considered systems are affected by independent and…

Rank-deficient stationary stochastic vector processes are present in many problems in network theory and dynamic factor analysis. In this paper we study hidden dynamical relations between the components of a discrete-time stochastic vector…

We introduce a method for sparsifying distributed algorithms and exhibit how it leads to improvements that go past known barriers in two algorithmic settings of large-scale graph processing: Massively Parallel Computation (MPC), and Local…

Fluidically actuated soft robots have promising capabilities such as inherent compliance and user safety. The control of soft robots needs to properly handle nonlinear actuation dynamics, motion constraints, workspace limitations, and…

Adaptive model predictive control (MPC) robustly ensures safety while reducing uncertainty during operation. In this paper, a distributed version is proposed to deal with network systems featuring multiple agents and limited communication.…

Motivated by recent progress on symmetry breaking problems such as maximal independent set (MIS) and maximal matching in the low-memory Massively Parallel Computation (MPC) model (e.g., Behnezhad et al.~PODC 2019; Ghaffari-Uitto SODA 2019),…

In this paper we introduce an iterative Jacobi algorithm for solving distributed model predictive control (DMPC) problems, with linear coupled dynamics and convex coupled constraints. The algorithm guarantees stability and persistent…

A large-scale complex system comprising many, often spatially distributed, dynamical subsystems with partial autonomy and complex interactions are called system of systems. This paper describes an efficient algorithm for model predictive…

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…