相关论文: Learning-Based Model Predictive Control for Piecew…

In this paper, we study homothetic tube model predictive control (MPC) of discrete-time linear systems subject to bounded additive disturbance and mixed constraints on the state and input. Different from most existing work on robust MPC, we…

Reducing the computation time of model predictive control (MPC) is important, especially for systems constrained by many state constraints. In this paper, we propose a new online constraint removal framework for linear systems, for which we…

Model Predictive Control (MPC) offers rigorous safety and performance guarantees but is computationally intensive. Approximate MPC (AMPC) aims to circumvent this drawback by learning a computationally cheaper surrogate policy. Common…

Model Predictive Control (MPC) offers a versatile framework for constraint handling and multi-objective optimisation, yet practical application faces challenges regarding initial and recursive feasibility, robustness against model…

Offline reinforcement learning (RL) refers to the problem of learning policies entirely from a large batch of previously collected data. This problem setting offers the promise of utilizing such datasets to acquire policies without any…

This work proposes a novel robust model predictive control (MPC) algorithm for linear systems affected by dynamic model uncertainty and exogenous disturbances. The uncertainty is modeled using a linear fractional perturbation structure with…

Model-free Reinforcement Learning (RL) works well when experience can be collected cheaply and model-based RL is effective when system dynamics can be modeled accurately. However, both assumptions can be violated in real world problems such…

In this paper we present a framework for risk-sensitive model predictive control (MPC) of linear systems affected by stochastic multiplicative uncertainty. Our key innovation is to consider a time-consistent, dynamic risk evaluation of the…

Model predictive control (MPC) samples a generally unknown and complicated feedback law point by point. The solution for the current state $x$ contains, however, more information than only the optimal signal $u$ for this particular state.…

We study learning control in an online reset-free lifelong learning scenario, where mistakes can compound catastrophically into the future and the underlying dynamics of the environment may change. Traditional model-free policy learning…

Offline reinforcement learning enables agents to leverage large pre-collected datasets of environment transitions to learn control policies, circumventing the need for potentially expensive or unsafe online data collection. Significant…

This paper proposes an off-line algorithm, called Recurrent Model Predictive Control (RMPC), to solve general nonlinear finite-horizon optimal control problems. Unlike traditional Model Predictive Control (MPC) algorithms, it can make full…

We propose a supervised learning framework for computing solutions of multi-parametric Mixed Integer Linear Programs (MILPs) that arise in Model Predictive Control. Our approach also quantifies sub-optimality for the computed solutions.…

Data-enabled predictive control (DeePC) has recently attracted attention as a promising approach for controlling systems directly from raw data, without requiring an explicit identification step. However, DeePC has not yet been extended to…

Safe offline reinforcement learning aims to learn policies that maximize cumulative rewards while adhering to safety constraints, using only offline data for training. A key challenge is balancing safety and performance, particularly when…

One major issue in learning-based model predictive control (MPC) for autonomous driving is the contradiction between the system model's prediction accuracy and computation efficiency. The more situations a system model covers, the more…

Offline model-based optimization (MBO) seeks to discover high-performing designs using only a fixed dataset of past evaluations. Most existing methods rely on learning a surrogate model via regression and implicitly assume that good…

Model predictive control (MPC) has proven its applicability in power conversion control with its fast dynamic response to reference changes while ensuring critical system constraints are satisfied. Even then, the computational burden still…

We present differentiable predictive control (DPC) as a deep learning-based alternative to the explicit model predictive control (MPC) for unknown nonlinear systems. In the DPC framework, a neural state-space model is learned from…

Model predictive control is a powerful framework for enabling optimal control of constrained systems. However, for systems that are described by high-dimensional state spaces this framework can be too computationally demanding for real-time…