KPC: Learning-Based Model Predictive Control with Deterministic Guarantees
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This article discusses the problem of time registration between navigation and imaging components on Micro Aerial Vehicles (MAVs). Accurate mapping with MAVs is gaining importance in applications such as corridor mapping, road and pipeline inspections or m ...
The desire to operate chemical processes in a safe and economically optimal way has motivated the development of so-called real-time optimization (RTO) methods [1]. For continuous processes, these methods aim to compute safe and optimal steady-state set ...
This paper presents an algorithm to solve the infinite horizon constrained linear quadratic regulator (CLQR) problem using operator splitting methods. First, the CLQR problem is reformulated as a (finite-time) model predictive control (MPC) problem without ...
Optimal operation of chemical processes is key for meeting productivity, quality, safety and environmental objectives. Both model-based and data-driven schemes are used to compute optimal operating conditions [1]: - The model-based techniques are intu ...
Control reserves are power generation or consumption entities that ensure balance of supply and demand of electricity in real-time. In many countries, they are procured through a market mechanism in which entities provide bids. The system operator determin ...
A novel method for approximating structured singular values (also known as μ- values) is proposed and investigated. These quantities constitute an important tool in the stability analysis of uncertain linear control systems as well as in structured eig ...
This work considers the numerical optimization of constrained batch and semi-batch processes, for which direct as well as indirect methods exist. Direct methods are often the methods of choice, but they exhibit certain limitations related to the compromise ...
We propose a new decentralized control scheme for DC Islanded microGrids (ImGs) composed by several Distributed Generation Units (DGUs) with a general interconnection topol- ogy. Each local controller regulates to a reference value the voltage of the point ...
We introduce an analysis framework for constructing optimal first-order primal-dual methods for the prototypical constrained convex optimization template. While this class of methods offers scalability advantages in obtaining numerical solutions, they have ...
This paper develops the theory of multisymplectic variational integrators for nonsmooth continuum mechanics with constraints. Typical problems are the impact of an elastic body on a rigid plate or the collision of two elastic bodies. The integrators are ob ...