593 citations · 845 across the 62 of their papers we have counts for
20 papers · 1 filter
Near-Optimal Rapid MPC using Neural Networks: A Primal-Dual Policy Learning Framework
Xiaojing Zhang, Monimoy Bujarbaruah, Francesco Borrelli
In this paper, we propose a novel framework for approximating the explicit MPC policy for linear parameter-varying systems using supervised learning. Our learning scheme guarantees…
Learning Robustness with Bounded Failure: An Iterative MPC Approach
Monimoy Bujarbaruah, Akhil Shetty, Kameshwar Poolla +1
We propose an approach to design a Model Predictive Controller (MPC) for constrained Linear Time Invariant systems performing an iterative task. The system is subject to an additiv…
Minimum Time Learning Model Predictive Control
Ugo Rosolia, Francesco Borrelli
In this paper we present a Learning Model Predictive Control (LMPC) strategy for linear and nonlinear time optimal control problems. Our work builds on existing LMPC methodologies…
Robust Learning Model Predictive Control for Linear Systems Performing Iterative Tasks
Ugo Rosolia, Xiaojing Zhang, Francesco Borrelli
A robust Learning Model Predictive Controller (LMPC) for uncertain systems performing iterative tasks is presented. At each iteration of the control task the closed-loop state, inp…
Learning Model Predictive Control for Periodic Repetitive Tasks
Nicola Scianca, Ugo Rosolia, Francesco Borrelli
We propose a reference-free learning model predictive controller for periodic repetitive tasks. We consider a problem in which dynamics, constraints and stage cost are periodically…
Modeling of Dynamical Systems via Successive Graph Approximations
Siddharth H. Nair, Monimoy Bujarbaruah, Francesco Borrelli
In this work, we propose a non-parametric technique for online modeling of systems with unknown nonlinear Lipschitz dynamics. The key idea is to successively utilize measurements t…