相关论文: PLD-Based Reconfigurable Controllers for Feedback …

Iteration limited model predictive control (MPC) can stabilize a feedback control system under sufficient conditions; this work explores combining a low iteration limit MPC with a high iteration limit MPC for mixed-integer quadratic…

We present a new type of feedback linearization that is tailored for mechanical control systems. We call it a mechanical feedback linearization. Its basic feature is preservation of the mechanical structure of the system. For mechanical…

Reinforcement learning (RL) and model predictive control (MPC) offer a wealth of distinct approaches for automatic decision-making under uncertainty. Given the impact both fields have had independently across numerous domains, there is…

We propose a stochastic model predictive control (MPC) framework for linear systems subject to joint-in-time chance constraints under unknown disturbance distributions. Unlike existing approaches that rely on parametric or Gaussian…

The integration of Model Predictive Control (MPC) and Reinforcement Learning (RL) has emerged as a promising paradigm for constrained decision-making and adaptive control. MPC offers structured optimization, explicit constraint handling,…

A robust adaptive model predictive control (MPC) algorithm is presented for linear, time invariant systems with unknown dynamics and subject to bounded measurement noise. The system is characterized by an impulse response model, which is…

This paper investigates controller identification given data from a Model Predictive Controller (MPC) with constraints. We propose an approach for learning MPC that explicitly uses the gradient information in the training process. This is…

PC-Gym is an open-source tool for developing and evaluating reinforcement learning (RL) algorithms in chemical process control. It features environments that simulate various chemical processes, incorporating nonlinear dynamics,…

This paper proposes a novel control scheme, named self-reflective model predictive control, which takes its own limitations in the presence of process noise and measurement errors into account. In contrast to existing output-feedback MPC…

Model Predictive Control (MPC) is an enabling technology in applications requiring controlling physical processes in an optimized way under constraints on inputs and outputs. However, in MPC closed-loop performance is pushed to the limits…

In adaptive-sampling control, the control frequency can be adjusted during task execution. Ensuring that these changes do not jeopardize the safety of the system being controlled requires attention. We introduce robust M-step hold model…

Well-designed current control is a key factor in ensuring the efficient and safe operation of modular multilevel converters (MMCs). Even though this control problem involves multiple control objectives, conventional current control schemes…

Real-world systems are often characterized by high-dimensional nonlinear dynamics, making them challenging to control in real time. While reduced-order models (ROMs) are frequently employed in model-based control schemes, dimensionality…

An autonomous adaptive MPC architecture is presented for control of heating, ventilation and air condition (HVAC) systems to maintain indoor temperature while reducing energy use. Although equipment use and occupant changes with time,…

Model predictive control (MPC) is one of the most successful modern control methods. It relies on repeatedly solving a finite-horizon optimal control problem and applying the beginning piece of the optimal input. In this paper, we develop a…

Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human-centered robots. These demands come at the cost of a…

We address the design of a model predictive control (MPC) scheme for large-scale linear systems using reduced-order models (ROMs). Our approach uses a ROM, leverages tools from robust control, and integrates them into an MPC framework to…

Purpose: This study aims to address the challenges of controlling unstable and nonlinear systems by proposing an adaptive PID controller based on predictive reinforcement learning (PRL-PID), where the PRL-PID combines the advantages of both…

Composite adaptive control (CAC) that integrates direct and indirect adaptive control techniques can achieve smaller tracking errors and faster parameter convergence compared with direct and indirect adaptive control techniques. However,…

Programmable Logic Controllers (PLCs) are widely used in industrial automation to control physical systems. As PLC applications become increasingly complex, ensuring their correctness is crucial. Existing formal verification techniques…