相关论文: Adaptive Model Predictive Control for Engine-Drive…

This paper presents a Model Predictive Control (MPC) scheme for flight scheduling and energy management of electric aviation networks, where electric aircraft transport passengers between electrified airports equipped with sustainable…

The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…

The symmetry of dynamical systems can be exploited for state-transition prediction and to facilitate control policy optimization. This paper leverages system symmetry to develop sample-efficient offline reinforcement learning (RL)…

For the aerial manipulator that performs aerial work tasks, the actual operating environment it faces is very complex, and it is affected by internal and external multi-source disturbances. In this paper, to effectively improve the…

This paper considers an optimal energy management problem for a network of interconnected microgrids. A model predictive control (MPC) approach is used to avoid capacity constraint violation and to cope with uncertainties of forecasted…

In this paper, we introduce a learning-based vision dynamics approach to nonlinear model predictive control for autonomous vehicles, coined LVD-NMPC. LVD-NMPC uses an a-priori process model and a learned vision dynamics model used to…

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…

Identifying control-friendly models of nonlinear systems remains one of the major challenges at the intersection of system identification and control. The Linear Parameter-Varying (LPV) framework offers a promising solution, but existing…

Omnidirectional micro aerial vehicles (OMAVs) are more capable of doing environmentally interactive tasks due to their ability to exert full wrenches while maintaining stable poses. However, OMAVs often incorporate additional actuators and…

The control of complex systems is of critical importance in many branches of science, engineering, and industry. Controlling an unsteady fluid flow is particularly important, as flow control is a key enabler for technologies in energy…

This paper focuses on developing a method to obtain an uncertain linear fractional transformation (LFT) system that adequately captures the dynamics of a nonlinear time-invariant system over some desired envelope. First, the nonlinear…

Breaking safety constraints in control systems can lead to potential risks, resulting in unexpected costs or catastrophic damage. Nevertheless, uncertainty is ubiquitous, even among similar tasks. In this paper, we develop a novel adaptive…

The design and optimization of cryogenic propellant storage tanks for NASA's future space missions require fast and accurate predictions of long-term fluid behaviors. Computational fluid dynamics (CFD) techniques are high-fidelity but…

In this paper, we present Asynchronous implementation of Deep Neural Network-based Model Reference Adaptive Control (DMRAC). We evaluate this new neuro-adaptive control architecture through flight tests on a small quadcopter. We demonstrate…

Fixed-wing vertical take-off and landing (VTOL) aircraft pose a unique control challenge that stems from complex aerodynamic interactions between wings and rotors. Thus, accurate estimation of external forces is indispensable for achieving…

This paper proposes Distributed Model Predictive Covariance Steering (DiMPCS) for multi-agent control under stochastic uncertainty. The scope of our approach is to blend covariance steering theory, distributed optimization and model…

Adaptive model predictive control (MPC) robustly ensures safety while reducing uncertainty during operation. In this paper, a distributed version is proposed to deal with network systems featuring multiple agents and limited communication.…

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…

This paper formally develops a novel hierarchical planning and control framework for robust payload transportation by quadrupedal robots, integrating a model predictive control (MPC) algorithm with a gradient-descent-based adaptive updating…

Low-altitude wireless networks (LAWNs) have been envisioned as flexible and transformative platforms for enabling delay-sensitive control applications in Internet of Things (IoT) systems. In this work, we investigate the real-time wireless…