相关论文: TransMPC: Transformer-based Explicit MPC with Vari…

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 a powerful tool for planning and controlling dynamical systems due to its capacity for handling constraints and taking advantage of preview information. Nevertheless, MPC performance is highly dependent on…

A robust model predictive control (MPC) method is presented for linear, time-invariant systems affected by bounded additive disturbances. The main contribution is the offline design of a disturbance-affine feedback gain whereby the…

Many robotics domains use some form of nonconvex model predictive control (MPC) for planning, which sets a reduced time horizon, performs trajectory optimization, and replans at every step. The actual task typically requires a much longer…

Model Predictive Control (MPC) is effective at generating safe control strategies in constrained scenarios, at the cost of computational complexity. This is especially the case in robots that require high sampling rates and have limited…

Robust model predictive control (MPC) is a well-known control technique for model-based control with constraints and uncertainties. In classic robust tube-based MPC approaches, an open-loop control sequence is computed via periodically…

Model predictive control (MPC) has become increasingly popular for the control of robot manipulators due to its improved performance compared to instantaneous control approaches. However, tuning these controllers remains a considerable…

Classical Distributed Model Predictive Control (DiMPC) requires multiple iterations to achieve convergence, leading to high computational and communication burdens. This work focuses on the improvement of an iteration-free distributed MPC…

Model Predictive Control (MPC) is a popular technology to operate industrial systems. It refers to a class of control algorithms that use an explicit model of the system to obtain the control action by minimizing a cost function. At each…

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…

Designing control inputs for a system that involves dynamical responses in multiple timescales is nontrivial. This paper proposes a parameterized time-warping function to enable a non-uniformly sampling along a prediction horizon given some…

We develop a novel form of differentiable predictive control (DPC) with safety and robustness guarantees based on control barrier functions. DPC is an unsupervised learning-based method for obtaining approximate solutions to explicit model…

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…

A common problem when using model predictive control (MPC) in practice is the satisfaction of safety specifications beyond the prediction horizon. While theoretical works have shown that safety can be guaranteed by enforcing a suitable…

This paper proposes an iterative distributionally robust model predictive control (MPC) scheme to solve a risk-constrained infinite-horizon optimal control problem. In each iteration, the algorithm generates a trajectory from the starting…

Non-prehensile manipulation in high-dimensional systems is challenging for a variety of reasons. One of the main reasons is the computationally long planning times that come with a large state space. Trajectory optimisation algorithms have…

This note re-visits the rolling-horizon control approach to the problem of a Markov decision process (MDP) with infinite-horizon discounted expected reward criterion. Distinguished from the classical value-iteration approach, we develop an…

The core of the Model Predictive Control (MPC) method in every step of the algorithm consists in solving a time-dependent optimization problem on the prediction horizon of the MPC algorithm, and then to apply a portion of the optimal…

Recently, suboptimality estimates for model predictive controllers (MPC) have been derived for the case without additional stabilizing endpoint constraints or a Lyapunov function type endpoint weight. The proposed methods yield a posteriori…

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…