相关论文: A Learning-Based Model Predictive Contouring Contr…

A model predictive control (MPC) scheme for a permanent-magnet synchronous motor (PMSM) is presented. The torque controller optimizes a quadratic cost consisting of control error and machine losses repeatedly, accounting the voltage and…

Model Predictive Control lacks the ability to escape local minima in nonconvex problems. Furthermore, in fast-changing, uncertain environments, the conventional warmstart, using the optimal trajectory from the last timestep, often falls…

Tube-based model predictive control (MPC) is one of the principal robust control techniques for constrained linear systems affected by additive disturbances. While tube-based methods with online-computed tubes have been successfully applied…

This paper addresses the trajectory-tracking problem under uncertain road-surface conditions for autonomous vehicles. We propose a stochastic nonlinear model predictive controller (SNMPC) that learns a tire--road friction model online using…

Trial-and-error based reinforcement learning (RL) has seen rapid advancements in recent times, especially with the advent of deep neural networks. However, the majority of autonomous RL algorithms require a large number of interactions with…

Safety and tracking stability are crucial for safety-critical systems such as self-driving cars, autonomous mobile robots, industrial manipulators. To efficiently control safety-critical systems to ensure their safety and achieve tracking…

Model predictive control (MPC) has been applied to many platforms in robotics and autonomous systems for its capability to predict a system's future behavior while incorporating constraints that a system may have. To enhance the performance…

Recently, Model Predictive Contouring Control (MPCC) has arisen as the state-of-the-art approach for model-based agile flight. MPCC benefits from great flexibility in trading-off between progress maximization and path following at runtime…

Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…

Model Predictive Control (MPC) is a widely used technique for managing timevarying systems, supported by extensive theoretical analysis. While theoretical studies employing dynamic regret frameworks have established robust performance…

Sampling-based model predictive control (MPC) algorithms, such as model predictive path integral (MPPI), enable approximate, gradient-free solutions to optimal control problems by drawing samples from a proposal distribution, evaluating…

Recently, much effort has been devoted by researchers from both academia and industry to develop novel congestion control methods. LearningCC is presented in this letter, in which the congestion control problem is solved by reinforce…

This paper designs traffic signal control policies for a network of signalized intersections without knowing the demand and parameters. Within a model predictive control (MPC) framework, control policies consist of an algorithm that…

We propose and analyze a real-time model predictive control (MPC) scheme that utilizes stored data to improve its performance by learning the value function online with stability guarantees. For linear and nonlinear systems, a learning…

Lane change in dense traffic typically requires the recognition of an appropriate opportunity for maneuvers, which remains a challenging problem in self-driving. In this work, we propose a chance-aware lane-change strategy with high-level…

This paper focuses on passenger-oriented real-time train rescheduling, considering flexible train composition and rolling stock circulation, by integrating learning-based and optimization-based approaches. A learning-based model predictive…

Robotic systems must be able to quickly and robustly make decisions when operating in uncertain and dynamic environments. While Reinforcement Learning (RL) can be used to compute optimal policies with little prior knowledge about the…

This note extends a recently proposed algorithm for model identification and robust MPC of asymptotically stable, linear time-invariant systems subject to process and measurement disturbances. Independent output predictors for different…

Model predictive control (MPC) is an optimal control strategy where control input calculation is based on minimizing the predicted tracking error over a finite horizon that moves with time. This strategy has an advantage over conventional…

We present a decentralized minimum-time trajectory optimization scheme based on learning model predictive control for multi-agent systems with nonlinear decoupled dynamics and coupled state constraints. By performing the same task…