相关论文: Hierarchical-type Model Predictive Control and Exp…

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…

Robust bipedal locomotion in exoskeletons requires the ability to dynamically react to changes in the environment in real time. This paper introduces the hybrid data-driven predictive control (HDDPC) framework, an extension of the…

Heavy-duty hydraulic manipulators (HHMs) operate under strict physical and safety-critical constraints due to their large size, high power, and complex nonlinear dynamics. Ensuring that both joint-level and end-effector trajectories remain…

Learning-based model predictive control has emerged as a powerful approach for handling complex dynamics in mechatronic systems, enabling data-driven performance improvements while respecting safety constraints. However, when computational…

This paper provides a comprehensive tutorial on a family of Model Predictive Control (MPC) formulations, known as MPC for tracking, which are characterized by including an artificial reference as part of the decision variables in the…

Fluidically actuated soft robots have promising capabilities such as inherent compliance and user safety. The control of soft robots needs to properly handle nonlinear actuation dynamics, motion constraints, workspace limitations, and…

This article proposes a Model Reference Adaptive Control (MRAC) strategy to achieve fixed-time convergence of parameter estimation and tracking errors for unknown linear time-invariant systems, without relying on the persistence of…

The goal of model reference adaptive control (MRAC) is to ensure that the trajectories of an unknown dynamical system track those of a given reference model. This is done by means of a feedback controller that adaptively changes its gains…

Flow-based generative models provide strong unconditional priors for inverse problems, but guiding their dynamics for conditional generation remains challenging. Recent work casts training-free conditional generation in flow models as an…

Model predictive control (MPC) is a promising technique for motion cueing in driving simulators, but its high computation time limits widespread real-time application. This paper proposes a hybrid algorithm that combines filter-based and…

Deterministic model predictive control (MPC), while powerful, is often insufficient for effectively controlling autonomous systems in the real-world. Factors such as environmental noise and model error can cause deviations from the expected…

This letter presents a new predictive control architecture for high-dimensional robotic systems. As opposed to a conventional Model Predictive Control (MPC) approach to locomotion that formulates a hierarchical sequence of optimization…

Model Predictive Control (MPC) is widely used for torque-controlled robots, but classical formulations often neglect real-time force feedback and struggle with contact-rich industrial tasks under collision constraints. Deburring in…

In this paper, a novel full form dynamic linearization (FFDL) data-driven model-free adaptive predictive control (MFAPC) method is proposed for a class of discrete-time single-input single-output nonlinear systems. The novelty of MFAPC is…

Reliable spacecraft attitude control depends on accurate prediction of attitude dynamics, particularly when model-based strategies such as Model Predictive Control (MPC) are employed, where performance is limited by the quality of the…

In this paper, we propose a novel data-driven predictive control approach for systems subject to time-domain constraints. The approach combines the strengths of H-infinity control for rejecting disturbances and MPC for handling constraints.…

Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional model-based controllers often struggle to achieve desired…

Robotic cloth manipulation is a relevant challenging problem for autonomous robotic systems. Highly deformable objects as textile items can adopt multiple configurations and shapes during their manipulation. Hence, robots should not only…

This paper presents a data-driven approach to the design of predictive controllers. The prediction matrices utilized in standard model predictive control (MPC) algorithms are typically constructed using knowledge of a system model such as,…

This work introduces a formulation of model predictive control (MPC) which adaptively reasons about the complexity of the model based on the task while maintaining feasibility and stability guarantees. Existing MPC implementations often…