相关论文: Model-Free Predictive Control: Introductory Algebr…

We propose a model predictive control (MPC) based approach to a flock control problem with obstacle avoidance capability in a leader-follower framework, utilizing the future trajectory prediction computed by each agent. We employ the…

Intelligent aerial platforms such as Unmanned Aerial Vehicles (UAVs) are expected to revolutionize various fields, including transportation, traffic management, field monitoring, industrial production, and agricultural management. Among…

This work presents an explicit-implicit procedure to compute a model predictive control (MPC) law with guarantees on recursive feasibility and asymptotic stability. The approach combines an offline-trained fully-connected neural network…

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…

Model Predictive Control (MPC) has proven to be a powerful tool for the control of systems with constraints. Nonetheless, in many applications, a major challenge arises, that is finding the optimal solution within a single sampling instant…

Markov Decision Processes (MDPs) offer a fairly generic and powerful framework to discuss the notion of optimal policies for dynamic systems, in particular when the dynamics are stochastic. However, computing the optimal policy of an MDP…

Model predictive control (MPC) is a powerful technique for solving dynamic control tasks. In this paper, we show that there exists a close connection between MPC and online learning, an abstract theoretical framework for analyzing online…

Model predictive control (MPC) is an optimal control technique which involves solving a sequence of constrained optimization problems across a given time horizon. In this paper, we introduce a category theoretic framework for constructing…

The pharmaceutical industry has witnessed exponential growth in transforming operations towards continuous manufacturing to effectively achieve increased profitability, reduced waste, and extended product range. Model Predictive Control…

In this paper, we present a robust adaptive model predictive control (MPC) scheme for linear systems subject to parametric uncertainty and additive disturbances. The proposed approach provides a computationally efficient formulation with…

Model Predictive Controllers (MPC) are widely used for controlling cyber-physical systems. It is an iterative process of optimizing the prediction of the future states of a robot over a fixed time horizon. MPCs are effective in practice,…

Adaptive Horizon Model Predictive Control (AHMPC) is a scheme for varying as needed the horizon length of Model Predictive Control (MPC). Its goal is to achieve stabilization with horizons as small as possible so that MPC can be used on…

Cooperative control of groups of autonomous vehicles (AVs), i.e., platoons, is a promising direction to improving the efficiency of autonomous transportation systems. In this context, distributed co-optimization of both vehicle speed and…

Tight performance specifications in combination with operational constraints make model predictive control (MPC) the method of choice in various industries. As the performance of an MPC controller depends on a sufficiently accurate…

We consider the problem of optimizing the economic performance of nonlinear constrained systems subject to uncertain time-varying parameters and bounded disturbances. In particular, we propose an adaptive economic model predictive control…

In this work, we propose a novel learning-based model predictive control (MPC) framework for motion planning and control of urban self-driving. In this framework, instantaneous references and cost functions of online MPC are learned from…

This paper proposes a novel approach to design analog electronic circuits that implement Model Predictive Control (MPC) policies for dynamical systems described by affine models. Effective approaches to define a reduced-complexity Explicit…

Heavy computational load for solving nonconvex problems for large-scale systems or systems with real-time demands at each sample step has been recognized as one of the reasons for preventing a wider application of nonlinear model predictive…

This paper presents a modified model predictive control (MPC) framework for real-time power system operation. The framework incorporates a diffusion model tailored for time series generation to enhance the accuracy of the load forecasting…

Modern, torque-controlled service robots can regulate contact forces when interacting with their environment. Model Predictive Control (MPC) is a powerful method to solve the underlying control problem, allowing to plan for whole-body…