21 citations · 34 across the 47 of their papers we have counts for
4 papers · 2 filters
BP-MPC: Optimizing the Closed-Loop Performance of MPC using BackPropagation
Riccardo Zuliani, Efe C. Balta, John Lygeros
Model predictive control (MPC) is pervasive in research and industry. However, designing the cost function and the constraints of the MPC to maximize closed-loop performance remain…
Convergence guarantees for adaptive model predictive control with kinky inference
Riccardo Zuliani, Raffaele Soloperto, John Lygeros
We analyze the convergence properties of a robust adaptive model predictive control algorithm used to control an unknown nonlinear system. We show that by employing a standard quad…
Computing Optimal Joint Chance Constrained Control Policies
Niklas Schmid, Marta Fochesato, Sarah H. Q. Li +2
We consider the problem of optimally controlling stochastic, Markovian systems subject to joint chance constraints over a finite-time horizon. For such problems, standard Dynamic P…
Interconnection of (Q,S,R)-Dissipative Systems in Discrete Time
Andrea Martinelli, Ahmed Aboudonia, John Lygeros
Discrete-time systems cannot be passive unless there is a direct feedthrough from the input to the output. For passivity-based control to be exploited nevertheless, some authors in…