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Scenario-based stochastic MPC for vehicle speed control considering the interaction with pedestrians

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0 Published in 2020 at "IFAC-PapersOnLine"

DOI: 10.1016/j.ifacol.2020.12.2341

Abstract: Abstract A typical driver spends a lot of the driving time on roads shared with pedestrians and bicyclists. Unlike highway driving, when there are pedestrians and cyclists using the same space as cars, controlling the… read more here.

Keywords: mpc; scenario based; control; mpc vehicle ... See more keywords

Iterative Learning Stochastic MPC with Adaptive Constraint Tightening for Building HVAC Systems

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1 Published in 2020 at "IFAC-PapersOnLine"

DOI: 10.1016/j.ifacol.2020.12.636

Abstract: Abstract Most of the existing stochastic model predictive control (SMPC) algorithms for systems subject to random disturbance are designed offline using the distribution information of the uncertainties. In this paper, we propose an iterative learning… read more here.

Keywords: iterative learning; adaptive constraint; learning stochastic; constraint tightening ... See more keywords

Fast Stochastic MPC Implementation via Policy Learning

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1 Published in 2022 at "IEEE Control Systems Letters"

DOI: 10.1109/lcsys.2022.3182643

Abstract: Stochastic Model Predictive Control (MPC) gained popularity thanks to its capability of overcoming the conservativeness of robust approaches, at the expense of a higher computational demand. This represents a critical issue especially for sampling-based methods.… read more here.

Keywords: stochastic mpc; policy learning; mpc implementation; mpc ... See more keywords

Long Duration Stochastic MPC With Mission-Wide Probabilistic Constraints Using Waysets

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2 Published in 2023 at "IEEE Control Systems Letters"

DOI: 10.1109/lcsys.2022.3227861

Abstract: A stochastic Model Predictive Control (MPC) formulation is presented for systems operating for a finite time subject to constraints on the Mission-Wide Probability of Safety (MWPS). For linear discrete-time systems subject to unknown disturbances, the… read more here.

Keywords: stochastic mpc; long duration; mission wide; mission ... See more keywords

Distributed Stochastic MPC for Networked Linear Systems With a Multirate Sampling Mechanism

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1 Published in 2022 at "IEEE Transactions on Systems, Man, and Cybernetics: Systems"

DOI: 10.1109/tsmc.2020.3048998

Abstract: In this article, a distributed stochastic model predictive control (MPC) algorithm with a multirate sampling mechanism is proposed for a networked linear system with multiple dynamic subsystems. A delta operator approach is used for the… read more here.

Keywords: stochastic mpc; sampling mechanism; multirate sampling; distributed stochastic ... See more keywords