4 papers · 1 filter
Non-asymptotic Bounds of Learning-based Linear MPC With Input Constraints and Unbounded Stochastic Noise
Changyi Lei, Seth Siriya, Dragan Nešić +1
This paper studies learning-based model predictive control (MPC) for stabilizing unknown discrete-time linear systems with hard input constraints and additive unbounded sub-Gaussia…
Learning-based Homothetic Tube MPC with Non-Asymptotic Guarantees
Changyi Lei, Seth Siriya, Dragan Nešić +1
This paper studies learning-based MPC for constrained stabilization of discrete-time linear systems with unknown system parameters and additive bounded disturbances. We develop a t…
A Framework for Adaptive Stabilisation of Nonlinear Stochastic Systems
Seth Siriya, Jingge Zhu, Dragan Nešić +1
We consider the adaptive control problem for discrete-time, nonlinear stochastic systems with linearly parameterised uncertainty. Assuming access to a parameterised family of contr…
Towards Fast and Safety-Guaranteed Trajectory Planning and Tracking for Time-Varying Systems
Seth Siriya, Mo Chen, Ye Pu
When deploying autonomous systems in unknown and changing environments, it is critical that their motion planning and control algorithms are computationally efficient and can be re…