相关论文: Teaching Predictive Control Using Specification-ba…

This tutorial consists of a brief introduction to the modern control approach called model predictive control (MPC) and its numerical implementation using MATLAB. We discuss the basic concepts and numerical implementation of the two major…

Since the earliest conceptualizations by Lee and Markus, and Propoi in the 1960s, Model Predictive Control (MPC) has become a major success story of systems and control with respect to industrial impact and with respect to continued and…

Model Predictive Control (MPC) offers a versatile framework for constraint handling and multi-objective optimisation, yet practical application faces challenges regarding initial and recursive feasibility, robustness against model…

Sampling-based Model Predictive Control (MPC) is a flexible control framework that can reason about non-smooth dynamics and cost functions. Recently, significant work has focused on the use of machine learning to improve the performance of…

Model Predictive Control (MPC) is widely used in robot control by optimizing a sequence of control outputs over a finite-horizon. Computational approaches for MPC include deterministic methods (e.g., iLQR and COBYLA), as well as…

Model predictive control (MPC) has become increasingly popular for the control of robot manipulators due to its improved performance compared to instantaneous control approaches. However, tuning these controllers remains a considerable…

While it has been repeatedly shown that learning-based controllers can provide superior performance, they often lack of safety guarantees. This paper aims at addressing this problem by introducing a model predictive safety certification…

A comprehensive approach addressing identification and control for learningbased Model Predictive Control (MPC) for linear systems is presented. The design technique yields a data-driven MPC law, based on a dataset collected from the…

We propose an adaptive Model Predictive Safety Certification (MPSC) scheme for learning-based control of linear systems with bounded disturbances and uncertain parameters where the true parameters are contained within an a priori known set…

Model Predictive Control (MPC) can efficiently control constrained systems in real-time applications. MPC feedback law for a linear system with linear inequality constraints can be explicitly computed off-line, which results in an off-line…

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…

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…

This paper provides a comprehensive tutorial on a family of Model Predictive Control (MPC) formulations, known as MPC for tracking, which are characterized by including an artificial reference as part of the decision variables in the…

Manufacturing processes are inherently dynamic and uncertain, with varying parameters and nonlinear behaviors, making robust control essential for maintaining quality and reliability. Traditional control methods often fail under these…

Despite decades of research, existing navigation systems still face real-world challenges when deployed in the wild, e.g., in cluttered home environments or in human-occupied public spaces. To address this, we present a new class of…

The integration of Model Predictive Control (MPC) and Reinforcement Learning (RL) has emerged as a promising paradigm for constrained decision-making and adaptive control. MPC offers structured optimization, explicit constraint handling,…

A supervised learning framework is proposed to approximate a model predictive controller (MPC) with reduced computational complexity and guarantees on stability and constraint satisfaction. The framework can be used for a wide class of…

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 powerful control strategy widely utilized in domains like energy management, building control, and autonomous systems. However, its effectiveness in real-world settings is challenged by the need to…

Model Predictive Control (MPC) is a powerful and flexible design tool of high-performance controllers for physical systems in the presence of input and output constraints. A challenge for the practitioner applying MPC is the need of tuning…