相关论文: Real-time Sampling-based Model Predictive Control …

Model Predictive Control (MPC) relies heavily on the robot model for its control law. However, a gap always exists between the reduced-order control model with uncertainties and the real robot, which degrades its performance. To address…

This paper proposes a stabilising model predictive control (MPC) scheme with preview information of disturbance for nonlinear systems. The proposed MPC algorithm is able to not only reject disturbance by making use of disturbance preview…

In the era of Big Data, Markov chain Monte Carlo (MCMC) methods, which are currently essential for Bayesian estimation, face significant computational challenges owing to their sequential nature. To achieve a faster and more effective…

This paper presents a robust model predictive control (MPC) framework that explicitly addresses the non-Gaussian noise inherent in deep learning-based perception modules used for state estimation. Recognizing that accurate uncertainty…

An approach to resilient planning and control of autonomous vehicles in multi-vehicle traffic scenarios is proposed. The proposed method is based on model predictive control (MPC), where alternative predictions of the surrounding traffic…

Automated vehicles and logistics robots must often position themselves in narrow environments with high precision in front of a specific target, such as a package or their charging station. Often, these docking scenarios are solved in two…

In this work we address the problem of performing a repetitive task when we have uncertain observations and dynamics. We formulate this problem as an iterative infinite horizon optimal control problem with output feedback. Previously, this…

In this paper, we present an iterative Model Predictive Control (MPC) design for piecewise nonlinear systems. We consider finite time control tasks where the goal of the controller is to steer the system from a starting configuration to a…

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…

This paper presents a stochastic, model predictive control (MPC) algorithm that leverages short-term probabilistic forecasts for dispatching and rebalancing Autonomous Mobility-on-Demand systems (AMoD, i.e. fleets of self-driving vehicles).…

Trains are a corner stone of public transport and play an important role in daily life. A challenging task in train operation is to avoid skidding and sliding during fast changes of traction conditions, which can, for example, occur due to…

Despite the success of Gaussian process based Model Predictive Control (MPC) in robotic control, its applicability scope is greatly hindered by multimodal disturbances that are prevalent in real-world settings. Here we propose a novel…

Linear Model Predictive Control (MPC) is a widely used method to control systems with linear dynamics. Efficient interior-point methods have been proposed which leverage the block diagonal structure of the quadratic program (QP) resulting…

Sampling-based model-predictive control (MPC) is a promising tool for feedback control of robots with complex, non-smooth dynamics, and cost functions. However, the computationally demanding nature of sampling-based MPC algorithms has been…

This letter is devoted to the concept of ``instant'' model predictive control (iMPC) for linear systems. An optimization problem is formulated to express the finite-time constrained optimal regulation control, like conventional MPC. Then,…

Model predictive control (MPC) is a popular approach for trajectory optimization in practical robotics applications. MPC policies can optimize trajectory parameters under kinodynamic and safety constraints and provide guarantees on safety,…

This paper proposes an Adaptive Stochastic Model Predictive Control (MPC) strategy for stable linear time-invariant systems in the presence of bounded disturbances. We consider multi-input, multi-output systems that can be expressed by a…

Model Predictive Control (MPC) approaches are widely used in robotics, since they guarantee feasibility and allow the computation of updated trajectories while the robot is moving. They generally require heuristic references for the…

Model Predictive Control (MPC) is a versatile approach capable of accommodating diverse control requirements that holds significant promise for a broad spectrum of industrial applications. Noteworthy challenges associated with MPC include…

Model Predictive Control (MPC) has become a popular framework in embedded control for high-performance autonomous systems. However, to achieve good control performance using MPC, an accurate dynamics model is key. To maintain real-time…