21 citations · 34 across the 47 of their papers we have counts for
8 papers · 1 filter
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…
Closed-Loop Finite-Time Analysis of Suboptimal Online Control
Aren Karapetyan, Efe C. Balta, Andrea Iannelli +1
Suboptimal methods in optimal control arise due to a limited computational budget, unknown system dynamics, or a short prediction window among other reasons. Although these methods…
Multi-Step Optimal Tracking Control of Unknown Nonzero-Sum Games based on Least Squares and Linear Programming: An Application to a Fully-Automated, Dual-Hormone Artificial Pancreas
Alexandros Tanzanakis, John Lygeros
We consider the problem of optimal tracking control of unknown discrete-time nonlinear nonzero-sum games. The related state-of-art literature is mostly focused on Policy Iteration…
Layer-to-Layer Melt Pool Control in Laser Powder Bed Fusion
Dominic Liao-McPherson, Efe C. Balta, Mohamadreza Afrasiabi +3
Additive manufacturing processes are flexible and efficient technologies for producing complex geometries. However, ensuring reliability and repeatability is challenging due to the…
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…
Data-driven optimal control via linear programming: boundedness guarantees
Lucia Falconi, Andrea Martinelli, John Lygeros
The linear programming (LP) approach is, together with value iteration and policy iteration, one of the three fundamental methods to solve optimal control problems in a dynamic pro…