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Stochastic Model Predictive Control: Controlling the Average Number of Constraint Violations

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Multirate sliding mode disturbance compensation for model predictive control

Colin Neil Jones

In this paper, a novel hierarchical multirate control scheme for nonlinear discrete-time systems is presented, consisting of a robust nonlinear model predictive controller (NMPC) and a multirate sliding mode disturbance compensator (MSMDC). The proposed MS ...

Wiley-Blackwell2015

Programming with Enumerable Sets of Structures

Viktor Kuncak, Ivan Kuraj, Daniel Jackson

We present an efficient, modular, and feature-rich framework for automated generation and validation of complex structures, suitable for tasks that explore a large space of structured values. Our framework is capable of exhaustive, incremental, parallel, a ...

Assoc Computing Machinery2015

Extending the Reach of a Rod Injected Into a Cylinder Through Distributed Vibration

Pedro Miguel Nunes Pereira de Almeida Reis

We present results of an experimental investigation of a new mechanism for extending the reach of an elastic rod injected into a horizontal cylindrical constraint, prior to the onset of helical buckling. This is accomplished through distributed, vertical v ...

American Society of Mechanical Engineers2015

On the Design of Economic NMPC Based on an Exact Turnpike Property

Dominique Bonvin, Timm Faulwasser

We discuss the design of sampled-data economic nonlinear model predictive control schemes for continuous-time systems. We present novel sufficient convergence conditions that do not require any kind of terminal constraints nor terminal penalties. Instead, ...

IFAC2015

Optimized distributed implementation of multiparty interactions with Restriction

Joseph Sifakis

Using high level coordination primitives allows enhanced expressiveness of component-based frameworks to cope with the inherent complexity of present-day systems designs. Nonetheless, their distributed implementation raises multiple issues, regarding both ...

Elsevier2015

Stochastic MPC framework for controlling the average constraint violation

Colin Neil Jones, Milan Korda

This paper considers linear discrete-time systems with additive, bounded, disturbances subject to hard control input bounds and a stochastic constraint on the amount of state-constraint violation averaged over time. The amount of violations is quantified b ...

Institute of Electrical and Electronics Engineers2014

On real-time robust model predictive control

Colin Neil Jones, Melanie Nicole Zeilinger

High-speed applications impose a hard real-time constraint on the solution of a model predictive control (MPC) problem, which generally prevents the computation of the optimal control input. As a result, in most MPC implementations guarantees on feasibilit ...

Elsevier2014

Verifying and Synthesizing Software with Recursive Functions (Invited Contribution)

Viktor Kuncak

Our goal is to help people construct software that does what they wish. We develop tools and algorithms that span static and dynamic verification, constraint solving, and program synthesis. I will outline the current state our verification and synthesis sy ...

Springer-Verlag Berlin2014

A Multipath Sparse Beamfroming Method

Hervé Bourlard, Volkan Cevher, Afsaneh Asaei

A novel formulation of beamforming is proposed for acquisition of the signals in reverberant acoustic clutter of interferences and noise. We derive the beamforming methods which incorporate the sparsity structure pertained to the acoustic source distributi ...

2013

Constraints as Control

Viktor Kuncak, Philippe Paul Henri Suter

We present an extension of Scala that supports constraint programming over bounded and unbounded domains. The resulting language, Kaplan, provides the benefits of constraint programming while preserving the existing features of Scala. Kaplan integrates con ...

2012