3 papers
math.OC2025
Recursive Feasibility without Terminal Constraints via Parent-Child MPC Architecture
Filip Surma, Anahita Jamshidnejad
This paper proposes a novel hierarchical model predictive control (MPC) framework, called the Parent-Child MPC architecture, to steer nonlinear systems under uncertainty towards a…
cs.RO2025
Fuzzy-Logic-based model predictive control: A paradigm integrating optimal and common-sense decision making
Filip Surma, Anahita Jamshidnejad
This paper introduces a novel concept, fuzzy-logic-based model predictive control (FLMPC), along with a multi-robot control approach for exploring unknown environments and locating…
math.OC2023
State-Dependent Dynamic Tube MPC: A Novel Tube MPC Method with a Fuzzy Model of Disturbances
Filip Surma, Anahita Jamshidnejad
Most real-world systems are affected by external disturbances, which may be impossible or costly to measure. For instance, when autonomous robots move in dusty environments, the pe…