相关论文: Information-Theoretic Framework for Self-Adapting …

This study proposes a machine learning-based Model Predictive Control (MPC) approach for controlling Air Handling Unit (AHU) systems by employing an Internet of Things (IoT) framework. The proposed framework utilizes an Artificial Neural…

Model-Predictive Control (MPC) is a powerful tool for controlling complex, real-world systems that uses a model to make predictions about future behavior. For each state encountered, MPC solves an online optimization problem to choose a…

Unmanned Aerial Vehicles (UAVs) are increasingly being utilized in various private and commercial applications, e.g., traffic control, parcel delivery, and Search and Rescue (SAR) missions. Machine Learning (ML) methods used in UAV-Assisted…

Model predictive control (MPC) for nonlinear systems suffers a trade-off between the model accuracy and real-time computational burden. One widely used approximation method is the successive linearization MPC (SL-MPC) with EKF method, in…

Model predictive control (MPC) is capable of controlling nonlinear systems with guaranteed constraint satisfaction and stability. However, MPC requires solving optimization problems online periodically, which often exceeds the local…

In the evolving era of Unmanned Aerial Vehicles (UAVs), the emphasis has moved from mere data collection to strategically obtaining timely and relevant data within the Internet of Drones (IoDs) ecosystem. However, the unpredictable…

Integrated into existing Mobile Edge Computing (MEC) systems, Unmanned Aerial Vehicles (UAVs) serve as a cornerstone in meeting the stringent requirements of future Internet of Things (IoT) networks. The current endeavor studies an MEC…

Model Predictive Control (MPC) is a powerful strategy for constrained multivariable systems but faces computational challenges in real-time deployment due to its online optimization requirements. While explicit MPC and neural network…

Robots executing iterative tasks in complex, uncertain environments require control strategies that balance robustness, safety, and high performance. This paper introduces a safe information-theoretic learning model predictive control…

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…

Learning-based control has attracted significant attention in recent years, especially for plants that are difficult to model based on first-principles. A key issue in learning-based control is how to make efficient use of data as the…

Control of legged robots is a challenging problem that has been investigated by different approaches, such as model-based control and learning algorithms. This work proposes a novel Imitating and Finetuning Model Predictive Control (IFM)…

We propose a distributed model predictive control (MPC) framework for coordinating heterogeneous, nonlinear multi-agent systems under individual and coupling constraints. The cooperative task is encoded as a shared objective function…

Two established approaches to engineer adaptive systems are architecture-based adaptation that uses a Monitor-Analysis-Planning-Executing (MAPE) loop that reasons over architectural models (aka Knowledge) to make adaptation decisions, and…

In this paper, we propose an adaptive data-driven min-max model predictive control (MPC) scheme for discrete-time linear time-varying (LTV) systems. We assume that prior knowledge of the system dynamics and bounds on the variations are…

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…

Model predictive control (MPC) is widely used for path tracking of autonomous vehicles due to its ability to handle various types of constraints. However, a considerable predictive error exists because of the error of mathematics model or…

With the increasing adoption of plug-in electric vehicles (PEVs), it is critical to develop efficient charging coordination mechanisms that minimize the cost and impact of PEV integration to the power grid. In this paper, we consider the…

In this paper, a self-triggered adaptive model predictive control (MPC) algorithm is proposed for constrained discrete-time nonlinear systems subject to parametric uncertainties and additive disturbances. To bound the parametric…

In the backdrop of an increasingly pressing need for effective urban and highway transportation systems, this work explores the synergy between model-based and learning-based strategies to enhance traffic flow management by use of an…