7 papers · 1 filter
Scaled Graph Bounding Techniques for Reset Systems
Timo de Groot, Maurice Heemels, Tom Oomen +1
Reset systems can overcome fundamental limitations of linear time-invariant control. The recently introduced notion of scaled (relative) graphs provides a promising framework for d…
The Separation Principle and the Dual-Certainty Equivalence Gap in Model Predictive Control
Tren Baltussen, Nathan P. Lawrence, Alexander Katriniok +2
Dual control addresses the trade-off between exploitation and exploration, where control inputs both regulate the system and generate informative data for estimation and identifica…
Dual MPC for Active Learning of Nonparametric Uncertainties
Tren Baltussen, Maurice Heemels, Alexander Katriniok
This manuscript presents a dual model predictive controller (MPC) that balances the two objectives of dual control, namely, system identification and control. In particular, we pro…
Continuity Conditions for Piecewise Quadratic Functions on Simplicial Conic Partitions are Equivalent
Magne Erlandsen, Tomas Meijer, W. P. M. H. Heemels +1
Analysis of continuous-time piecewise linear systems based on piecewise quadratic (PWQ) Lyapunov functions typically requires continuity of these functions over a partition of the…
A Dissipativity Framework for Constructing Scaled Graphs
Timo de Groot, Maurice heemels, Sebastiaan van den Eijnden
Scaled relative graphs have been originally introduced in the context of convex optimization and have recently gained attention in the control systems community for the graphical a…
A Contingency Model Predictive Control Framework for Safe Learning
Merlijne Geurts, Tren Baltussen, Alexander Katriniok +1
This research introduces a multi-horizon contingency model predictive control (CMPC) framework in which classes of robust MPC (RMPC) algorithms are combined with classes of learnin…