相关论文: Computationally efficient predictive control based…

This paper addresses the particularities in optimal control of the uranium extraction-scrubbing operation in the PUREX process. The control problem requires optimally stabilizing the system at a desired solvent saturation level,…

We consider the problem of robust and adaptive model predictive control (MPC) of a linear system, with unknown parameters that are learned along the way (adaptive), in a critical setting where failures must be prevented (robust). This…

Self-driving cars operate in constantly changing environments and are exposed to a variety of uncertainties and disturbances. These factors render classical controllers ineffective, especially for lateral control. Therefore, an adaptive MPC…

This paper addresses the offset-free tracking problem for nonlinear systems described by a class of recurrent neural networks (RNNs). To compensate for constant disturbances and guarantee offset-free tracking in the presence of model-plant…

Many practical applications of optimal control are subject to real-time computational constraints. When applying model predictive control (MPC) in these settings, respecting timing constraints is achieved by limiting the number 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…

This paper presents a comprehensive overview of data-driven model predictive control, highlighting state-of-the-art methodologies and their numerical implementation. The discussion begins with a brief review of conventional model predictive…

In this paper an identification method for state-space LPV models is presented. The method is based on a particular parameterization that can be written in linear regression form and enables model estimation to be handled using…

Many engineering processes can be accurately modelled using partial differential equations (PDEs), but high dimensionality and non-convexity of the resulting systems pose limitations on their efficient optimisation. In this work, a model…

Model predictive control is a powerful tool to generate complex motions for robots. However, it often requires solving non-convex problems online to produce rich behaviors, which is computationally expensive and not always practical in real…

In this paper, we propose a method to solve nonlinear optimal control problems (OCPs) with constrained control input in real-time using neural networks (NNs). We introduce what we have termed co-state Neural Network (CoNN) that learns the…

Scenario-based optimization and control has proven to be an efficient approach to account for system uncertainty. In particular, the performance of scenario-based model predictive control (MPC) schemes depends on the accuracy of uncertainty…

This paper presents a deep learning based model predictive control (MPC) algorithm for systems with unmatched and bounded state-action dependent uncertainties of unknown structure. We utilize a deep neural network (DNN) as an oracle in the…

In model predictive control (MPC) an optimization problem has to be solved at each time step, which in real-time applications makes it important to solve these optimization problems efficiently and to have good upper bounds on worst-case…

Distributed parameter systems (DPS) are formulated as partial differential equations (PDE). Especially, under time-varying boundary conditions, PDE introduce force coupling. In the case of the flexible stacker crane (STC), nonlinear…

By optimizing the predicted performance over a receding horizon, model predictive control (MPC) provides the ability to enforce state and control constraints. The present paper considers an extension of MPC for nonlinear systems that can be…

Model predictive control (MPC) anticipates future events to take appropriate control actions. Nonlinear MPC (NMPC) describes systems with nonlinear models and/or constraints. Continuation MPC, suggested by T.~Ohtsuka in 2004, uses…

This article proposes a Novel Nonlinear Model Predictive Control (NMPC) for navigation and obstacle avoidance of an Unmanned Aerial Vehicle (UAV). The proposed NMPC formulation allows for a fully parametric obstacle trajectory, while in…

This article presents an identification methodology to capture general relationships, with application to piecewise nonlinear approximations of model predictive control for constrained (non)linear systems. The mathematical formulation…

The leading approach for image compression with artificial neural networks (ANNs) is to learn a nonlinear transform and a fixed entropy model that are optimized for rate-distortion performance. We show that this approach can be…