Trajectory-tracking and Path-following Controllers for Constrained Underactuated Vehicles using Model Predictive Control
Graph Chatbot
Chat with Graph Search
Ask any question about EPFL courses, lectures, exercises, research, news, etc. or try the example questions below.
DISCLAIMER: The Graph Chatbot is not programmed to provide explicit or categorical answers to your questions. Rather, it transforms your questions into API requests that are distributed across the various IT services officially administered by EPFL. Its purpose is solely to collect and recommend relevant references to content that you can explore to help you answer your questions.
Chemical incidents are typically caused by loss of control, resulting in runaway reactions or process deviations in different stages of the production. In the case of fed-batch reactors, the problem generally encountered is the accumulation of heat. This i ...
We consider the control of a large-scale system composed of state-coupled linear subsystems that can be added or removed offline. In this paper we present Plug-and-Play (PnP) design methods based on Model Predictive Control (MPC) meaning that (i) the desig ...
We consider the problem of dispatching WindFarm (WF) power demand to individual Wind Turbines (WT) with the goal of minimizing mechanical stresses. We assume wind is strong enough to let each WTs to produce the required power and propose different closed-l ...
Traffic congestion is a substantial problem plaguing modern society. Researchers and practitioners working on transportation systems turn to methods from automatic control to decrease congestion and improve urban mobility. Considering the sheer physical si ...
A probabilistic interpretation of model predictive control is presented, enabling extensions to multiple coordinate systems. The resulting controller follows a minimal intervention principle, by learning and retrieving movements through the coordination of ...
We consider the problem of dispatching wind farm (WF) power demand to individual wind turbines (WTs) with the goal of minimizing mechanical stresses. We assume that wind is strong enough to let each WTs produce the required power and propose different clos ...
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 ...
A short technical subsection for Gaussian Process learning and Uncertainty propagation is presented as required in applications like Model Predictive Control, machine learning and optimization. ...
This paper addresses the design of Model Predictive Control (MPC) laws to solve the trajectory-tracking problem and the path-following problem for constrained underactuated vehicles. By allowing an arbitrarily small asymptotic tracking error, we derive MPC ...
This paper presents a Model Predictive Control (MPC) scheme for nonlinear continuous-time systems where an economic stage cost, which is not a measure of the distance to a desired set point, is combined with a classic stabilizing stage cost. The associated ...
