15 papers
Dual adaptive MPC using an exact set-membership reformulation
Anilkumar Parsi, Diyou Liu, Andrea Iannelli +1
Adaptive model predictive control (MPC) methods using set-membership identification to reduce parameter uncertainty are considered in this work. Strong duality is used to reformula…
Stochastic MPC with robustness to bounded parametric uncertainty
Elena Arcari, Andrea Iannelli, Andrea Carron +1
The performance of model-based control techniques strongly depends on the quality of the employed dynamics model. If strong guarantees are desired, it is therefore common to robust…
Regret Analysis of Online Gradient Descent-based Iterative Learning Control with Model Mismatch
Efe C. Balta, Andrea Iannelli, Roy S. Smith +1
In Iterative Learning Control (ILC), a sequence of feedforward control actions is generated at each iteration on the basis of partial model knowledge and past measurements with the…
An explicit dual control approach for constrained reference tracking of uncertain linear systems
Anilkumar Parsi, Andrea Iannelli, Roy S. Smith
A finite horizon optimal tracking problem is considered for linear dynamical systems subject to parametric uncertainties in the state-space matrices and exogenous disturbances. A s…
Design of input for data-driven simulation with Hankel and Page matrices
Andrea Iannelli, Mingzhou Yin, Roy S. Smith
The paper deals with the problem of designing informative input trajectories for data-driven simulation. First, the excitation requirements in the case of noise-free data are discu…
Decentralized trajectory optimization for multi-agent exploration
Dimitris Gkouletsos, Andrea Iannelli, Mathias Hudoba de Badyn +1
Autonomous exploration is an application of growing importance in robotics. A promising strategy is ergodic trajectory planning, whereby an agent spends in each area a fraction of…