相关论文: A Scenario-based Model Predictive Control Scheme f…
The practical deployment of nonlinear model predictive control (NMPC) is often limited by online computation: solving a nonlinear program at high control rates can be expensive on embedded hardware, especially when models are complex or…
Decision making under uncertainty is critical to real-world, autonomous systems. Model Predictive Control (MPC) methods have demonstrated favorable performance in practice, but remain limited when dealing with complex probability…
Nonlinear Model Predictive Control (NMPC) is a powerful approach for controlling highly dynamic robotic systems, as it accounts for system dynamics and optimizes control inputs at each step. However, its high computational complexity makes…
This paper studies an optimal control problem for an adoption-opinion model that couples innovation adoption with opinion formation on a multilayer network. Adoption spreads through social contagion and perceived benefits, while opinions…
This paper demonstrates the applicability of the safe model predictive control (SMPC) framework to autonomous driving scenarios, focusing on the design of adaptive cruise control (ACC) and automated lane-change systems. Building on the SMPC…
Control of machine learning models has emerged as an important paradigm for a broad range of robotics applications. In this paper, we present a sampling-based nonlinear model predictive control (NMPC) approach for control of neural network…
This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…
In this paper we propose an output-feedback Model Predictive Control (MPC) algorithm for linear discrete-time systems affected by a possibly unbounded additive noise and subject to probabilistic constraints. In case the noise distribution…
In this paper, a novel distributed model predictive control (MPC) scheme with asymmetric adaptive terminal sets is developed for the regulation of large-scale systems with a distributed structure. Similar to typical MPC schemes, a…
Epidemic processes are common out-of-equilibrium phenomena of broad interdisciplinary interest. Recently, dynamic message-passing (DMP) has been proposed as an efficient algorithm for simulating epidemic models on networks, and in…
This paper presents an uncertainty compensation-based robust adaptive model predictive control (MPC) framework for linear systems with both matched and unmatched nonlinear uncertainties subject to both state and input constraints. In…
The paper presents an algorithm for syndromic surveillance of an epidemic outbreak formulated in the context of stochastic nonlinear filtering. The dynamics of the epidemic is modeled using a generalized compartmental epidemiological model…
A dual adaptive model predictive control (MPC) algorithm is presented for linear, time-invariant systems subject to bounded disturbances and parametric uncertainty in the state-space matrices. Online set-membership identification is…
The mixture cure model for analyzing survival data is characterized by the assumption that the population under study is divided into a group of subjects who will experience the event of interest over some finite time horizon and another…
This paper presents a model predictive control (MPC) framework leveraging an ensemble of data-based models to optimally control complex systems under multiple operating conditions. A novel combination rule for ensemble models is proposed,…
Estimating the number of the number of people from hidden and/or marginalised populations - such as people dependent on opioids or cocaine - is important to guide policy decisions and provision of harm reduction services. Methods such as…
The control of constrained systems using model predictive control (MPC) becomes more challenging when full state information is not available and when the nominal system model and measurements are corrupted by noise. Since these conditions…
Current psychiatric research is in crisis. In this review I will describe the causes of this crisis and highlight recent efforts to overcome current challenges. One particularly promising approach is the emerging field of computational…
This paper is about a real-time model predictive control (MPC) algorithm for large-scale, structured linear systems with polytopic state and control constraints. The proposed controller receives the current state measurement as an input and…
Compartmental models have long served as important tools in mathematical epidemiology, with their usefulness highlighted by the recent COVID-19 pandemic. However, most of the classical models fail to account for certain features of this…