4 papers · 1 filter
Efficient Uniform Feasible-Set Sampling for Approximate Linear MPC
Elias Milios, Felix Berkel, Felix Gruber +2
Model Predictive Control (MPC) offers safe and near-optimal control but suffers from high computational costs. Approximate MPC (AMPC) mitigates this by learning a cheaper surrogate…
Contract-based hierarchical control using predictive feasibility value functions
Felix Berkel, Kim Peter Wabersich, Hongxi Xiang +1
Today's control systems are often characterized by modularity and safety requirements to handle complexity, resulting in the use of hierarchical control structures. Although hierar…
Statistically Consistent Approximate Model Predictive Control
Elias Milios, Kim P. Wabersich, Felix Berkel +2
Model Predictive Control (MPC) offers rigorous safety and performance guarantees but is computationally intensive. Approximate MPC (AMPC) aims to circumvent this drawback by learni…
Stability Mechanisms for Predictive Safety Filters
Elias Milios, Kim Peter Wabersich, Felix Berkel +1
Predictive safety filters enable the integration of potentially unsafe learning-based control approaches and humans into safety-critical systems. In addition to simple constraint s…