相关论文: Deep Learning based Model Predictive Control for C…

Nonlinear Model Predictive Control (NMPC) is a state-of-the-art approach for locomotion and manipulation which leverages trajectory optimization at each control step. While the performance of this approach is computationally bounded,…

Model compression is a critical technique to efficiently deploy neural network models on mobile devices which have limited computation resources and tight power budgets. Conventional model compression techniques rely on hand-crafted…

This paper proposes a deep learning-based optimal battery management scheme for frequency regulation (FR) by integrating model predictive control (MPC), supervised learning (SL), reinforcement learning (RL), and high-fidelity battery…

Model Predictive Control (MPC) has been widely applied to the motion planning of autonomous vehicles. An MPC-controlled vehicle is required to predict its own trajectories in a finite prediction horizon according to its model. Beyond this,…

This paper develops a methodology for adaptive data-driven Model Predictive Control (MPC) using Koopman operators. While MPC is ubiquitous in various fields of engineering, the controller performance can deteriorate if the modeling error…

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…

Batteryless systems frequently face power failures, requiring extra runtime buffers to maintain inference progress and leaving only a memory space for storing ultra-tiny deep neural networks (DNNs). Besides, making these models responsive…

Connected vehicles (CVs) have situational awareness that can be exploited for control and optimization of the powertrain system. While extensive studies have been carried out for energy efficiency improvement of CVs via eco-driving and…

The use of machine learning algorithms to predict behaviors of complex systems is booming. However, the key to an effective use of machine learning tools in multi-physics problems, including combustion, is to couple them to physical and…

Resonant power converters offer improved levels of efficiency and power density. In order to implement such systems, advanced control techniques are required to take the most of the power converter. In this context, model predictive control…

Model-free Reinforcement Learning (RL) works well when experience can be collected cheaply and model-based RL is effective when system dynamics can be modeled accurately. However, both assumptions can be violated in real world problems such…

Among the auxiliary loads in light-duty vehicles, the air conditioning system is the single largest energy consumer. For electrified vehicles, the impact of heating and cooling loads becomes even more significant, as they compete with the…

Nowadays, Neural Networks represent a major expectation for the realization of powerful Deep Learning algorithms, which can determine several physical systems' behaviors and operations. Computational resources required for model, training,…

One major issue in learning-based model predictive control (MPC) for autonomous driving is the contradiction between the system model's prediction accuracy and computation efficiency. The more situations a system model covers, the more…

Agile quadrotor flight in challenging environments has the potential to revolutionize shipping, transportation, and search and rescue applications. Nonlinear model predictive control (NMPC) has recently shown promising results for agile…

We present foundations for using Model Predictive Control (MPC) as a differentiable policy class for reinforcement learning in continuous state and action spaces. This provides one way of leveraging and combining the advantages of…

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) 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…

The deployment of deep learning (DL) models for precoding in massive multiple-input multiple-output (mMIMO) systems is often constrained by high computational demands and energy consumption. In this paper, we investigate the compute energy…

Identifying optimal thermodynamical processes has been the essence of thermodynamics since its inception. Here, we show that differentiable programming (DP), a machine learning (ML) tool, can be employed to optimize finite-time…