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eess.SY2020
Learning to Satisfy Unknown Constraints in Iterative MPC
Monimoy Bujarbaruah, Charlott Vallon, Francesco Borrelli
We propose a control design method for linear time-invariant systems that iteratively learns to satisfy unknown polyhedral state constraints. At each iteration of a repetitive task…
eess.SY2020
Task Decomposition for MPC: A Computationally Efficient Approach for Linear Time-Varying Systems
Charlott Vallon, Francesco Borrelli
A Task Decomposition method for iterative learning Model Predictive Control (TDMPC) for linear time-varying systems is presented. We consider the availability of state-input trajec…
eess.SY2020
Data-Driven Hierarchical Predictive Learning in Unknown Environments
Charlott Vallon, Francesco Borrelli
We propose a hierarchical learning architecture for predictive control in unknown environments. We consider a constrained nonlinear dynamical system and assume the availability of…