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Real-Time Nonlinear Model Predictive Control for Fast Mechatronic Systems

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The research community has been making significant progress in hardware implementation, numerical computing and algorithm development for optimization-based control. However, there are two key challenges that still have to be overcome for optimization-base ...

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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 ...

2021

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In this paper, we present the development and deployment of an embedded optimal control strategy for autonomous driving applications on a Ford Focus road vehicle. Non-linear model predictive control (NMPC) is designed and deployed on a system with hard rea ...

2021

Reference tracking stochastic model predictive control over unreliable channels and bounded control actions

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A stochastic model predictive control framework over unreliable Bernoulli communication channels, in the presence of unbounded process noise and under bounded control inputs, is presented for tracking a reference signal. The data losses in the control chan ...

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A nonlinear model predictive control scheme for sensor fault tolerance in observation processes

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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 ...

WILEY2020