相关论文: Model predictive eco-driving control for heavy-dut…

This work presents DMPC (Data-and Model-Driven Predictive Control) to solve control problems in which some of the constraints or parts of the objective function are known, while others are entirely unknown to the controller. It is assumed…

Uncrewed aerial systems have tightly coupled energy and motion dynamics which must be accounted for by onboard planning algorithms. This work proposes a strategy for coupled motion and energy planning using model predictive control (MPC). A…

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…

The goal of this paper is to present an end-to-end, data-driven framework to control Autonomous Mobility-on-Demand systems (AMoD, i.e. fleets of self-driving vehicles). We first model the AMoD system using a time-expanded network, and…

The closed-loop performance of model predictive controllers (MPCs) is sensitive to the choice of prediction models, controller formulation, and tuning parameters. However, prediction models are typically optimized for prediction accuracy…

The automotive industry is under growing pressure to reduce its environmental impact, requiring accurate predictive modeling to support sustainable engineering design. This study examines the factors that determine vehicle fuel consumption…

For the application of MPC design in on-line regulation or tracking control problems, several studies have attempted to develop an accurate model, and realize adequate uncertainty description of linear or non-linear plants of the processes.…

Model predictive control (MPC) has been shown to significantly improve the energy efficiency of buildings while maintaining thermal comfort. Data-driven approaches based on neural networks have been proposed to facilitate system modelling.…

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…

In this paper, we introduce a new conservation-based approach to model traffic dynamics, and apply the model predictive control (MPC) approach to control the boundary traffic inflow and outflow, so that the traffic congestion is reduced. We…

This paper presents a modified model predictive control (MPC) framework for real-time power system operation. The framework incorporates a diffusion model tailored for time series generation to enhance the accuracy of the load forecasting…

This paper presents a robust economic model predictive control (EMPC) formulation with zone tracking for discrete-time uncertain nonlinear systems. The proposed design ensures that the zone tracking objective is achieved in finite steps and…

Control of machine learning models has emerged as an important paradigm for a broad range of robotics applications. In this paper, we present a sampling-based nonlinear model predictive control (NMPC) approach for control of neural network…

Modern, torque-controlled service robots can regulate contact forces when interacting with their environment. Model Predictive Control (MPC) is a powerful method to solve the underlying control problem, allowing to plan for whole-body…

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…

This paper presents a safe learning-based eco-driving framework tailored for mixed traffic flows, which aims to optimize energy efficiency while guaranteeing safety during real-system operations. Even though reinforcement learning (RL) is…

Economic model predictive control (EMPC) has attracted significant attention in recent years and is recognized as a promising advanced process control method for the next generation smart manufacturing. It can lead to improving economic…

Model predictive control (MPC) has become a hot cake technology for various applications due to its ability to handle multi-input multi-output systems with physical constraints. The optimization solvers require considerable time, limiting…

Partially-observable problems pose a trade-off between reducing costs and gathering information. They can be solved optimally by planning in belief space, but that is often prohibitively expensive. Model-predictive control (MPC) takes the…

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…