相关论文: An Execution-time-certified Riccati-based IPM Algo…

Model Predictive Control (MPC) can be applied to safety-critical control problems, providing closed-loop safety and performance guarantees. Implementation of MPC controllers requires solving an optimization problem at every sampling…

Sampling-based model predictive control methods, such as Model Predictive Path Integral (MPPI), offer derivative-free optimization and robustness in complex robotic systems. However, standard MPPI relies on cost-based soft penalties that…

We derive closed-form extensions of Riccati's recursions (both sequential and parallel) for solving dual-regularized LQR problems. We show how these methods can be used to solve general constrained, non-convex, discrete-time optimal control…

Given a program and a time deadline, does the program finish before the deadline when executed on a given platform? With the requirement to produce a test case when such a violation can occur, we refer to this problem as the worst-case…

Flexible robots may overcome some of the industry's major challenges, such as enabling intrinsically safe human-robot collaboration and achieving a higher payload-to-mass ratio. However, controlling flexible robots is complicated due to…

Nonlinear Model Predictive Control (NMPC) is widely used for controlling high-speed robotic systems such as quadrotors. However, its significant computational demands often hinder real-time feasibility and reliability, particularly in…

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…

This study presents the design, discretization and implementation of the continuous-time linear-quadratic model predictive control (CT-LMPC). The control model of the CT-LMPC is parameterized as transfer functions with time delays, and they…

We present a new interior-point potential-reduction algorithm for solving monotone linear complementarity problems (LCPs) that have a particular special structure: their matrix $M\in{\mathbb R}^{n\times n}$ can be decomposed as $M=\Phi U +…

We present an efficient algorithm to compute the induced norms of finite-horizon Linear Time-Varying (LTV) systems. The formulation includes both induced $\mathcal{L}_2$ and terminal Euclidean norm penalties. Existing computational…

When Model Predictive Control (MPC) is used in real-time to control linear systems, quadratic programs (QPs) need to be solved within a limited time frame. Recently, several parametric methods have been proposed that certify the number of…

Two-Phase TMR conserves energy by partitioning redundancy operations into two stages and making the execution of the third task copy optional, yet it remains susceptible to permanent faults. Reactive-TMR (R-TMR) counters this by isolating…

Despite great successes, model predictive control (MPC) relies on an accurate dynamical model and requires high onboard computational power, impeding its wider adoption in engineering systems, especially for nonlinear real-time systems with…

In order to guarantee stability, known results for MPC without additional terminal costs or endpoint constraints often require rather large prediction horizons. Still, stable behavior of closed loop solutions can often be observed even for…

In this paper, we present a novel solution for real-time, Non-Linear Model Predictive Control (NMPC) exploiting a time-mesh refinement strategy. The proposed controller formulates the Optimal Control Problem (OCP) in terms of flat outputs…

Secure multi-party computation (MPC) offers a practical foundation for privacy-preserving machine learning at the edge. However, current MPC systems rely heavily on communication and computation-intensive primitives-such as secure…

Model Predictive Control (MPC) is a successful control methodology, which is applied to increasingly complex systems. However, real-time feasibility of MPC can be challenging for complex systems, certainly when an (extremely) large number…

This paper proposes an Adaptive Learning Model Predictive Control strategy for uncertain constrained linear systems performing iterative tasks. The additive uncertainty is modeled as the sum of a bounded process noise and an unknown…

We present a model predictive control (MPC) framework to solve the constrained nonlinear output regulation problem. The main feature of the proposed framework is that the application does not require the solution to classical regulator…

In the realm of control systems, model predictive control (MPC) has exhibited remarkable potential; however, its reliance on accurate models and substantial computational resources has hindered its broader application, especially within…