8 papers
Certainty-Equivalence Model Predictive Control: Stability, Performance, and Beyond
Changrui Liu, Shengling Shi, Bart De Schutter
Handling model mismatch is a common challenge in model predictive control (MPC). While robust MPC is effective, its conservatism often makes it less desirable. Certainty-equivalenc…
WaveletInception Networks for on-board Vibration-Based Infrastructure Health Monitoring
Reza Riahi Samani, Alfredo Nunez, Bart De Schutter
This paper presents a deep learning framework for analyzing on board vibration response signals in infrastructure health monitoring. The proposed WaveletInception-BiGRU network use…
Learning-Based MPC for Fuel Efficient Control of Autonomous Vehicles with Discrete Gear Selection
Samuel Mallick, Gianpietro Battocletti, Qizhang Dong +2
Co-optimization of both vehicle speed and gear position via model predictive control (MPC) has been shown to offer benefits for fuel-efficient autonomous driving. However, optimizi…
A Bidirectional Long Short Term Memory Approach for Infrastructure Health Monitoring Using On-board Vibration Response
R. R. Samani, A. Nunez, B. De Schutter
The growing volume of available infrastructural monitoring data enables the development of powerful datadriven approaches to estimate infrastructure health conditions using direct…
Entanglement Definitions for Tethered Robots: Exploration and Analysis
Gianpietro Battocletti, Dimitris Boskos, Domagoj ToliÄ +2
In this article we consider the problem of tether entanglement for tethered mobile robots. One of the main risks of using a tethered connection between a mobile robot and an anchor…
Distributed Model Predictive Control for Piecewise Affine Systems Based on Switching ADMM
Samuel Mallick, Azita Dabiri, Bart De Schutter
This paper presents a novel approach for distributed model predictive control (MPC) for piecewise affine (PWA) systems. Existing approaches rely on solving mixed-integer optimizati…