3 papers
math.OC2025
Singular Arcs in Optimal Control: Closed-loop Implementations without Workarounds
Nikilesh Ramesh, Ross Drummond, Pablo Rodolfo Baldivieso Monasterios +1
Singular arcs emerge in the solutions of Optimal Control Problems (OCPs) when the optimal inputs on some finite time intervals cannot be directly obtained via the optimality condit…
eess.SY2024
Mapping back and forth between model predictive control and neural networks
Ross Drummond, Pablo R Baldivieso-Monasterios, Giorgio Valmorbida
Model predictive control (MPC) for linear systems with quadratic costs and linear constraints is shown to admit an exact representation as an implicit neural network. A method to "…
eess.SY2024
Tuning the feedback controller gains is a simple way to improve autonomous driving performance
Wenyu Liang, Pablo R. Baldivieso, Ross Drummond +1
Typical autonomous driving systems are a combination of machine learning algorithms (often involving neural networks) and classical feedback controllers. Whilst significant progres…