相关论文: Computationally efficient predictive control based…

We show how the solution to NMPC problems for a special type of input-affine discrete-time systems can be obtained by reformulating the underlying non-convex optimal control problem in terms of a finite number of convex subproblems. The…

This paper presents a constrained adaptive dynamic programming (CADP) algorithm to solve general nonlinear nonaffine optimal control problems with known dynamics. Unlike previous ADP algorithms, it can directly deal with problems with state…

Data-enabled predictive control (DeePC) for linear systems utilizes data matrices of recorded trajectories to directly predict new system trajectories, which is very appealing for real-life applications. In this paper we leverage the…

In this study, an Artificial Neural Network (ANN) approach is utilized to perform a parametric study on the process of extraction of lubricants from heavy petroleum cuts. To train the model, we used field data collected from an industrial…

We study the problem of designing a controller that satisfies an arbitrary number of affine inequalities at every point in the state space. This is motivated by the fact that a variety of key control objectives, such as stability, safety,…

Our objective is to estimate the unknown compositional input from its output response through an unknown system after estimating the inverse of the original system with a training set. The proposed methods using artificial neural networks…

We propose an iterative approach for designing Robust Learning Model Predictive Control (LMPC) policies for a class of nonlinear systems with additive, unmodelled dynamics. The nominal dynamics are assumed to be difference flat, i.e., the…

In this paper, we solve a joint cooperative localization and path planning problem for a group of Autonomous Aerial Vehicles (AAVs) in GPS-denied areas using nonlinear model predictive control (NMPC). A moving horizon estimator (MHE) is…

Nonlinear model predictive control (NMPC) is one of the few control methods that can handle multivariable nonlinear controlsystems with constraints. Gaussian processes (GPs) present a powerful tool to identify the required plant model and…

This article proposes an approach for collision avoidance, path following, and anti-grounding of autonomous surface vessels under consideration of environmental forces based on Nonlinear Model Predictive Control (NMPC). Artificial Potential…

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…

We present an approach for accelerating nonlinear model predictive control. If the current optimal input signal is saturated, also the optimal signals in subsequent time steps often are. We propose to use the open-loop optimal input signals…

This paper considers an application of model predictive control to automotive air conditioning (A/C) system in future connected and automated vehicles (CAVs) with battery electric or hybrid electric powertrains. A control-oriented…

Online model predictive control (MPC) for piecewise affine (PWA) systems requires the online solution to an optimization problem that implicitly optimizes over the switching sequence of PWA regions, for which the computational burden can be…

This paper investigates controller identification given data from a Model Predictive Controller (MPC) with constraints. We propose an approach for learning MPC that explicitly uses the gradient information in the training process. This is…

We consider the problem of discounted optimal state-feedback regulation for general unknown deterministic discrete-time systems. It is well known that open-loop instability of systems, non-quadratic cost functions and complex nonlinear…

Artificial Neural Networks (ANNs) are increasingly being used within safety-critical Cyber-Physical Systems (CPSs). They are often co-located with traditional embedded software, and may perform advisory or control-based roles. It is…

In this paper, we propose a convex data-based economic predictive control method within the framework of data-enabled predictive control (DeePC). Specifically, we use a neural network to transform the system output into a new state space,…

Spectral methods employing non-standard polynomial bases, such as M\"untz polynomials, have proven effective for accurately solving problems with solutions exhibiting low regularity, notably including sub-diffusion equations. However, due…

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…