相关论文: Robust offset-free nonlinear model predictive cont…

Model Predictive Control (MPC) is a state-of-the-art (SOTA) control technique which requires solving hard constrained optimization problems iteratively. For uncertain dynamics, analytical model based robust MPC imposes additional…

Neural networks are lately more and more often being used in the context of data-driven control, as an approximate model of the true system dynamics. Model Predictive Control (MPC) adopts this practise leading to neural MPC strategies. This…

Model Predictive Control (MPC) provides an optimal control solution based on a cost function while allowing for the implementation of process constraints. As a model-based optimal control technique, the performance of MPC strongly depends…

Appropriate greenhouse temperature should be maintained to ensure crop production while minimizing energy consumption. Even though weather forecasts could provide a certain amount of information to improve control performance, it is not…

We present a robust adaptive model predictive control (MPC) framework for nonlinear continuous-time systems with bounded parametric uncertainty and additive disturbance. We utilize general control contraction metrics (CCMs) to parameterize…

We design an model predictive control (MPC) approach for planning and control of non-holonomic mobile robots. Linearizing the system dynamics around the pre-computed reference trajectory gives a time-varying LQ MPC problem. We analytically…

Composite adaptive control (CAC) that integrates direct and indirect adaptive control techniques can achieve smaller tracking errors and faster parameter convergence compared with direct and indirect adaptive control techniques. However,…

We develop a novel data-driven robust model predictive control (DDRMPC) approach for automatic control of irrigation systems. The fundamental idea is to integrate both mechanistic models, which describe dynamics in soil moisture variations,…

In the realm of control systems, model predictive control (MPC) has exhibited remarkable potential; however, its reliance on accurate models and substantial computational resources has hindered its broader application, especially within…

Bioprocesses are often characterised by nonlinear and uncertain dynamics, posing particular challenges for model predictive control (MPC) algorithms due to their computational demands when applied to nonlinear systems. Recent advances in…

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…

This paper investigates adaptive model predictive control (MPC) for a class of constrained linear systems with unknown model parameters. This is also posed as the dual control problem consisting of system identification and regulation. We…

We present a model predictive control (MPC) framework to solve the constrained nonlinear output regulation problem. The main feature of the proposed framework is that the application does not require the solution to classical regulator…

We present differentiable predictive control (DPC) as a deep learning-based alternative to the explicit model predictive control (MPC) for unknown nonlinear systems. In the DPC framework, a neural state-space model is learned from…

In this paper, we present a robust adaptive model predictive control (MPC) scheme for linear systems subject to parametric uncertainty and additive disturbances. The proposed approach provides a computationally efficient formulation with…

Driven by the flexible manufacturing trend in the process control industry and the uncertain nature of chemical process models, this article aims to achieve offset-free tracking for a family of uncertain nonlinear systems (e.g., using…

We propose and analyze a real-time model predictive control (MPC) scheme that utilizes stored data to improve its performance by learning the value function online with stability guarantees. For linear and nonlinear systems, a learning…

This paper presents a predictive control strategy based on neural network model of the plant is applied to Continuous Stirred Tank Reactor (CSTR). This system is a highly nonlinear process; therefore, a nonlinear predictive method, e.g.,…

This work proposes an adaptive output feedback model predictive control (MPC) framework for uncertain systems subject to external disturbances. In the absence of exact knowledge about the plant parameters and complete state measurements,…

Bioprocesses are often characterized by nonlinear and uncertain dynamics. This poses particular challenges in the context of model predictive control (MPC). Several approaches have been proposed to solve this problem, such as robust or…