88 citations · 260 across the 14 of their papers we have counts for
10 papers · 1 filter
Robust MPC for Linear Systems with Parametric and Additive Uncertainty: A Novel Constraint Tightening Approach
Monimoy Bujarbaruah, Ugo Rosolia, Yvonne R Stürz +2
We propose a novel approach to design a robust Model Predictive Controller (MPC) for constrained uncertain linear systems. The uncertain system is modeled as linear parameter varyi…
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…
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…
Autonomous Parking of Vehicle Fleet in Tight Environments
Xu Shen, Xiaojing Zhang, Francesco Borrelli
The problem of autonomous parking of vehicle fleets is addressed in this paper. We present a system-level modeling and control framework which allows investigating different vehicl…
Adaptive MPC under Time Varying Uncertainty: Robust and Stochastic
Monimoy Bujarbaruah, Xiaojing Zhang, Marko Tanaskovic +1
This paper deals with the problem of formulating an adaptive Model Predictive Control strategy for constrained uncertain systems. We consider a linear system, in presence of bounde…
Simple Policy Evaluation for Data-Rich Iterative Tasks
Ugo Rosolia, Xiaojing Zhang, Francesco Borrelli
A data-based policy for iterative control task is presented. The proposed strategy is model-free and can be applied whenever safe input and state trajectories of a system performin…
Adaptive MPC for Autonomous Lane Keeping
Monimoy Bujarbaruah, Xiaojing Zhang, H. Eric Tseng +1
This paper proposes an Adaptive Robust Model Predictive Control strategy for lateral control in lane keeping problems, where we continuously learn an unknown, but constant steering…
Adaptive MPC for Iterative Tasks
Monimoy Bujarbaruah, Xiaojing Zhang, Ugo Rosolia +1
This paper proposes an Adaptive Learning Model Predictive Control strategy for uncertain constrained linear systems performing iterative tasks. The additive uncertainty is modeled…
Adaptive MPC with Chance Constraints for FIR Systems
Monimoy Bujarbaruah, Xiaojing Zhang, Francesco Borrelli
This paper proposes an adaptive stochastic Model Predictive Control (MPC) strategy for stable linear time invariant systems in the presence of bounded disturbances. We consider mul…
A scenario approach for non-convex control design
Sergio Grammatico, Xiaojing Zhang, Kostas Margellos +2
Randomized optimization is an established tool for control design with modulated robustness. While for uncertain convex programs there exist randomized approaches with efficient sa…