• Publications
  • Influence
An auto-generated nonlinear MPC algorithm for real-time obstacle avoidance of ground vehicles
TLDR
We address the problem of real-time obstacle avoidance on low-friction road surfaces using spatial Nonlinear Model Predictive Control (NMPC). Expand
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Periodic Optimal Control, Dissipativity and MPC
TLDR
We propose ways of extending the notion of (strict) dissipativity to the case of optimal periodic operation. Expand
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Autogenerating microsecond solvers for nonlinear MPC: A tutorial using ACADO integrators
TLDR
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
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From linear to nonlinear MPC: bridging the gap via the real-time iteration
TLDR
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
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Towards time-optimal race car driving using nonlinear MPC in real-time
TLDR
This paper addresses the real-time control of autonomous vehicles under a minimum traveling time objective. Expand
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A Lyapunov function for periodic economic optimizing Model Predictive Control
TLDR
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
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Model Predictive Control of Nonholonomic Mobile Robots Without Stabilizing Constraints and Costs
TLDR
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
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Primal decomposition of the optimal coordination of vehicles at traffic intersections
TLDR
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
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Indefinite linear MPC and approximated economic MPC for nonlinear systems
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 quadraticExpand
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Data-Driven Economic NMPC Using Reinforcement Learning
  • S. Gros, M. Zanon
  • Computer Science, Mathematics
  • IEEE Transactions on Automatic Control
  • 8 April 2019
TLDR
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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