Safe Trajectory Planning of Autonomous Vehicles
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2006.
Nonlinear control and synchronization of multiple Lagrangian systems with application to tethered formation flight spacecraft
Thesis (Sc. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2007.
Robust Model Predictive Control for Spacecraft Rendezvous with Online Prediction of Disturbance Bounds
IFAC Workshop Aerospace Guidance, Navigation and Flight Control Systems (AGNFCS' 09) Samara, RUSSIA June 30 - July 2, 2009
Robust model predictive control for a class of linear parameter varying systems
- Mathematics2007 European Control Conference (ECC)
A simple robust model predictive algorithm for discrete time linear parameter varying uncertain systems, which depend nonlinearly on their parameters, which was derived from the robust MPC algorithm proposed by Kothare et.
Distributed coordination and control experiments on a multi-UAV testbed
Distributed Coordination and Control Experiments on a MultiUAV Testbed by Ellis T. King Bachelor of Engineering The State University of Buffalo, 2002 Submitted to the Department of Aeronautics and…
Robust Model Predictive Control for Time-Varying Systems
- EngineeringProceedings of the 44th IEEE Conference on Decision and Control
This paper extends robust model predictive control to problems involving linear time-varying systems with constraints and subject to persistent, unknown but bounded disturbances. The new controller…
Improving Safety in Reinforcement Learning Using Model-Based Architectures and Human Intervention
- PsychologyFLAIRS Conference
This work is supported by U.S. Army Research Laboratory under Cooperative Agreement Number W911NF-10-2-0022, which aims to improve the quality of data obtained from X-ray diffraction analysis of diffraction-gauging crystals.
Model predictive control of spacecraft formations with sensing noise
- EngineeringProceedings of the 2005, American Control Conference, 2005.
This paper extends previous analysis on the impact of sensing noise upon the performance of model predictive control of formation flying spacecraft. We present a method of predicting the performance…
Implementation of robust decentralized model predictive control
An algorithm for robust Decentralized Model Predictive Control (DMPC) is extended to explicitly account for delays in the system, arising from both the computation of each control optimization and…
Infinite-Horizon Differentiable Model Predictive Control
A differentiable linear quadratic Model Predictive Control framework for safe imitation learning is proposed using a terminal cost function obtained from the discrete-time algebraic Riccati equation (DARE), so that the learned controller can be proven to be stabilizing in closed-loop.
SHOWING 1-10 OF 63 REFERENCES
Systems with persistent disturbances: predictive control with restricted constraints
Applied Predictive Control
This chapter discusses generalised Predictive Controller, an approach to PID control based on a Predictive Control Approach, and its applications in SISO Non-linear Systems.
Predictive control for constrained systems with polytopic uncertainty
- MathematicsProceedings of the 2001 American Control Conference. (Cat. No.01CH37148)
The paper addresses predictive control for polytopic discrete-time systems subject to input and state constraints by exploiting robust invariant sets under linear and nonlinear control laws.
Robust model predictive control: A survey
- EngineeringRobustness in Identification and Control
The basic concepts of MPC are reviewed, the uncertainty descriptions considered in the MPC literature are surveyed, and the techniques proposed for robust constraint handling, stability, and performance are surveyed.
An improved approach for constrained robust model predictive control
Predictive control : with constraints
A standard formulation of Predictive Control is presented, with examples of step response and transfer function formulations, and a case study of robust predictive control in the context of MATLAB.
A model predictive control-based approach for spacecraft formation keeping and attitude control
- Engineering, MathematicsProceedings of the 1999 American Control Conference (Cat. No. 99CH36251)
The application of a model predictive control-based approach to the design of a controller for formation keeping and formation attitude control, with applications to spacecraft formation flight problems such as NASA's DS3 mission is reported.
Min-max feedback model predictive control for constrained linear systems
- BusinessIEEE Trans. Autom. Control.
The control schemes the authors discuss introduce the notion that feedback is present in the receding-horizon implementation of the control, which leads to improved performance, compared to standard model predictive control, and resolves the feasibility difficulties that arise with the min-max techniques.
Worst-case Formulations of Model Predictive Control for Systems with Bounded Parameters *
- Mathematics, Engineering
Abstrad-Two different predictive control formulations are developed based on minimization of the worst-case quadratic cost for systems with bounded parameters. The two formulations differ on the…