M. Zanon

Publications
Influence

An auto-generated nonlinear MPC algorithm for real-time obstacle avoidance of ground vehicles

Janick V. Frasch, A. Gray, +4 authors M. Diehl
Engineering, Computer Science
European Control Conference (ECC)
17 July 2013

We address the problem of real-time obstacle avoidance on low-friction road surfaces using spatial Nonlinear Model Predictive Control (NMPC). Expand

Periodic Optimal Control, Dissipativity and MPC

M. Zanon, L. Grüne, M. Diehl
Mathematics, Computer Science
IEEE Transactions on Automatic Control
1 June 2017

We propose ways of extending the notion of (strict) dissipativity to the case of optimal periodic operation. Expand

Autogenerating microsecond solvers for nonlinear MPC: A tutorial using ACADO integrators

R. Quirynen, Milan Vukov, M. Zanon, M. Diehl
Computer Science
1 September 2015

A tutorial-style approach is adopted in this article to present such algorithmic ideas and to show how they can efficiently be implemented based on the ACADO Toolkit from MATLAB. Expand

From linear to nonlinear MPC: bridging the gap via the real-time iteration

Sébastien Gros, M. Zanon, R. Quirynen, A. Bemporad, M. Diehl
Mathematics, Computer Science
Int. J. Control
2 January 2020

In this paper, we aim at bridging the gap between linear and RTI-based nonlinear MPC by highlighting the similarities and differences between linear MPC and NMPC. Expand

Towards time-optimal race car driving using nonlinear MPC in real-time

R. Verschueren, Stijn De Bruyne, M. Zanon, Janick V. Frasch, M. Diehl
Engineering, Computer Science
53rd IEEE Conference on Decision and Control
2014

This paper addresses the real-time control of autonomous vehicles under a minimum traveling time objective. Expand

A Lyapunov function for periodic economic optimizing Model Predictive Control

M. Zanon, Sébastien Gros, M. Diehl
Mathematics, Computer Science
52nd IEEE Conference on Decision and Control
1 December 2013

In this paper, a Lyapunov function for Economic NMPC was proposed for the class of problems having a periodic optimal trajectory and satisfying a strong duality assumption. Expand

Model Predictive Control of Nonholonomic Mobile Robots Without Stabilizing Constraints and Costs

K. Worthmann, Mohamed W. Mehrez, M. Zanon, George K. I. Mann, R. Gosine, M. Diehl
Engineering, Computer Science
IEEE Transactions on Control Systems Technology
1 July 2016

A model predictive control (MPC) scheme based on tailored nonquadratic stage cost is proposed to fulfill the regulation problem of unicycle nonholonomic mobile robots. Expand

Primal decomposition of the optimal coordination of vehicles at traffic intersections

R. Hult, M. Zanon, Sébastien Gros, P. Falcone
Engineering, Computer Science
IEEE 55th Conference on Decision and Control (CDC…
1 December 2016

In this paper we address the problem of coordinating automated vehicles at intersections, which we state as a constrained finite horizon optimal control problem. Expand

Indefinite linear MPC and approximated economic MPC for nonlinear systems

M. Zanon, Sébastien Gros, M. Diehl
Mathematics
1 August 2014

The stability proof for economic model predictive control (MPC) relies on strict dissipativity, which is in general hard to check. In this contribution, we will first analyze the linear quadratic… Expand

Data-Driven Economic NMPC Using Reinforcement Learning

S. Gros, M. Zanon
Computer Science, Mathematics
IEEE Transactions on Automatic Control
8 April 2019

We show that an (E)NMPC scheme can be tuned to deliver the optimal policy of the real system even if the underlying model is wrong, by adjusting the stage and terminal cost alone. Expand

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