相关论文: Visual Tracking Nonlinear Model Predictive Control…

The recent increase in data availability and reliability has led to a surge in the development of learning-based model predictive control (MPC) frameworks for robot systems. Despite attaining substantial performance improvements over their…

In this paper, a model predictive control scheme for wind farms is presented. Our approach considers wake dynamics including their influence on local wind conditions and allows to track a given power reference. In detail, a Gaussian wake…

Tactile sensing plays a key role in robotic manipulation, particularly in tasks like surface inspection. Successful execution requires maintaining contact while accurately tracking object contours. In this work, we propose a Vision-Based…

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…

We present a novel method of integrating image-based measurements into a drone navigation system for the automated inspection of wind turbines. We take a model-based tracking approach, where a 3D skeleton representation of the turbine is…

Model predictive control (MPC) combined with reduced-order template models has emerged as a powerful tool for trajectory optimization in dynamic legged locomotion. However, loco-manipulation tasks performed by legged robots introduce…

Autonomous drone racing requires powerful perception, planning, and control and has become a benchmark and test field for autonomous, agile flight. Existing work usually assumes static race tracks with known maps, which enables offline…

The paper presents a strategy for the control of anautonomous racing car on a pre-mapped track. Using a dynamic model of the vehicle, the optimal racing line is computed, taking track boundaries into account. With the optimal racing line as…

We develop a tracking model predictive control (MPC) scheme for nonlinear systems using the linearized dynamics at the current state as a prediction model. Under reasonable assumptions on the linearized dynamics, we prove that the proposed…

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

With the exploitation of wind power, more turbines will be deployed at remote areas possibly with harsh working conditions (e.g., offshore wind farm). The adverse working environment may lead to massive operating and maintenance costs of…

This paper presents a Nonlinear Model Predictive Control (NMPC) scheme for maintaining a spacecraft within a specified family of periodic orbits near the libration points in cislunar space. Unlike traditional approaches that track a…

We present a versatile nonlinear model predictive control (NMPC) formulation for quadrupedal locomotion. Our formulation jointly optimizes a base trajectory and a set of footholds over a finite time horizon based on simplified dynamics…

We propose a computationally efficient nonlinear Model Predictive Control (NMPC) algorithm for safe, learning-based control. The system model is represented as an affine combination of basis functions with unknown parameters, and is subject…

We present Contingency Model Predictive Control (CMPC), a novel and implementable control framework which tracks a desired path while simultaneously maintaining a contingency plan -- an alternate trajectory to avert an identified potential…

Model Predictive Control (MPC) is a method to control nonlinear systems with guaranteed stability and constraint satisfaction but suffers from high computation times. Approximate MPC (AMPC) with neural networks (NNs) has emerged to address…

In this paper, we introduce VisioPath, a novel framework combining vision-language models (VLMs) with model predictive control (MPC) to enable safe autonomous driving in dynamic traffic environments. The proposed approach leverages a…

Robots and automated systems are increasingly being introduced to unknown and dynamic environments where they are required to handle disturbances, unmodeled dynamics, and parametric uncertainties. Robust and adaptive control strategies are…

Achieving global optimality in nonlinear model predictive control (NMPC) is challenging due to the non-convex nature of the underlying optimization problem. Since commonly employed local optimization techniques depend on carefully chosen…

A Model Predictive Controller for Tracking is introduced for rendezvous with non-cooperative tumbling targets in active debris removal applications. The target's three-dimensional non-periodic rotational dynamics as well as other state and…