Publication
Trajectory-tracking and Path-following Controllers for Constrained Underactuated Vehicles using Model Predictive Control
Related publications (32)
Model Predictive Control for Multi-Agent Systems under Limited Communication and Time-Varying Network Topology
Danilo Saccani, Melanie Nicole Zeilinger
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 that depend on each agent's behavior must be met. Drawing our motivation from ...
New York2023Optimal Thrust Vector Control of an Electric Small-Scale Rocket Prototype
Colin Neil Jones, Roland Schwan, Petr Listov
Recent advances in Model Predictive Control (MPC) algorithms and methodologies, combined with the surge of computational power of available embedded platforms, allows the use of real-time optimization-based control of fast mechatronic systems. This paper p ...
2021A nonlinear model predictive control scheme for sensor fault tolerance in observation processes
Colin Neil Jones, Andrea Alessandretti
This article addresses the problem of designing a sensor fault-tolerant controller for an observation process where a primary, controlled system observes, through a set of measurements, an exogenous system to estimate the state of this system. We consider ...
WILEY2020Kernel methods and Model predictive approaches for Learning and Control
Data-driven modeling and feedback control play a vital role in several application areas ranging from robotics, control theory, manufacturing to management of assets, financial portfolios and supply chains. Many such problems in one way or another are rela ...
EPFL2019Decentralized Nonlinear Model Predictive Control for 3D Formation of Multirotor Micro Aerial Vehicles with Relative Sensing and Estimation
Alcherio Martinoli, Izzet Kagan Erünsal, Rodrigo Martins de Matos Ventura
In recent years, extensive research is conducted on the coordination and cooperation strategies of multirotor Micro Aerial Vehicles (MAVs) to perform high-level missions such as scientific exploration, search and rescue, intelligence gathering etc. [1], [2 ...
2019SVR-AMA: An Asynchronous Alternating Minimization Algorithm With Variance Reduction for Model Predictive Control Applications
This paper focuses on the design of an asynchronous dual solver suitable for model predictive control (MPC) applications. The proposed solver relies on a state-of-the-art variance reduction (VR) scheme, previously used in the context of proximal stochastic ...
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2019Input-Constrained Path Following for Autonomous Marine Vehicles with a Global Region of Attraction
Francisco Fernandes Castro Rego
This paper presents a solution to the problem of path following control for autonomous marine vehicles (AMVs) subject to input constraints and constant ocean current disturbances. We propose two nonlinear control strategies: the first is obtained by using ...
ELSEVIER SCIENCE BV2018Predictive control of spiral vortex breakdown
François Avellan, François Gallaire, Simon Pasche
The predictive control of the self-sustained single spiral vortex breakdown mode is addressed in the three-dimensional flow geometry of Ruith et al. (2003) for a constant swirl number S = 1.095. Based on adjoint optimization algorithms, two different contr ...
2018Hierarchical control of heterogeneous large-scale urban road networks via path assignment and regional route guidance
Nikolaos Geroliminis, Isik Ilber Sirmatel, Mehmet Yildirimoglu
High level of detail renders microscopic traffic models impractical for control purposes and local control schemes cannot coordinate actions over large scale heterogeneously congested urban networks. Developing efficient models and control methods for larg ...
PERGAMON-ELSEVIER SCIENCE LTD2018Predictive Control methods for Building Control and Demand Response
This thesis studies advanced control techniques for the control of building heating and cooling systems to provide demand response services to the power network. It is divided in three parts. The first one introduces the MATLAB toolbox OpenBuild which aims ...
EPFL2017