2 citations · 2 across the 6 of their papers we have counts for
6 papers
Efficient Zero-Order Robust Optimization for Real-Time Model Predictive Control with acados
Jonathan Frey, Yunfan Gao, Florian Messerer +3
Robust and stochastic optimal control problem (OCP) formulations allow a systematic treatment of uncertainty, but are typically associated with a high computational cost. The recen…
Robust Nonlinear Reduced-Order Model Predictive Control
John Irvin Alora, Luis A. Pabon, Johannes Köhler +5
Real-world systems are often characterized by high-dimensional nonlinear dynamics, making them challenging to control in real time. While reduced-order models (ROMs) are frequently…
Homothetic tube model predictive control with multi-step predictors
Danilo Saccani, Giancarlo Ferrari-Trecate, Melanie N. Zeilinger +1
We present a robust model predictive control (MPC) framework for linear systems facing bounded parametric uncertainty and bounded disturbances. Our approach deviates from standard…
Time Dependent Inverse Optimal Control using Trigonometric Basis Functions
Rahel Rickenbach, Elena Arcari, Melanie N. Zeilinger
The choice of objective is critical for the performance of an optimal controller. When control requirements vary during operation, e.g. due to changes in the environment with which…
Model Predictive Control for Multi-Agent Systems under Limited Communication and Time-Varying Network Topology
Danilo Saccani, Lorenzo Fagiano, Melanie N. Zeilinger +1
In control system networks, reconfiguration of the controller when agents are leaving or joining the network is still an open challenge, in particular when operation constraints th…
Inexact Alternating Minimization Algorithm for Distributed Optimization with an Application to Distributed MPC
Ye Pu, Colin N. Jones, Melanie N. Zeilinger
In this paper, we propose the inexact alternating minimization algorithm (inexact AMA), which allows inexact iterations in the algorithm, and its accelerated variant, called the in…