Technical Report: Control of Nonlinear Systems with Explicit-MPC-like Controllers
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This paper deals with a novel Plug-and-Play (PnP) architecture for the control and monitoring of Large-Scale Systems (LSSs). The proposed approach integrates a distributed Model Predictive Control (MPC) strategy with a distributed Fault Detection (FD) arch ...
In this work, we study the task of distributed optimization over a network of learners in which each learner possesses a convex cost function, a set of affine equality constraints, and a set of convex inequality constraints. We propose a fully distributed ...
Institute of Electrical and Electronics Engineers2014
We introduce a model-based excessive gap technique to analyze first-order primal- dual methods for constrained convex minimization. As a result, we construct new primal-dual methods with optimal convergence rates on the objective residual and the primal fe ...
We present a primal-dual algorithmic framework to obtain approximate solutions to a prototypical constrained convex optimization problem, and rigorously characterize how common structural assumptions affect the numerical efficiency. Our main analysis techn ...
This paper proposes a method for solving robust optimal control problems with modulated uncertainty sets. We consider constrained uncertain linear systems and interpret the uncertainty sets as “robustness margins” or “reserve capacities”. In particular, gi ...
We consider the distance from a (square or rectangular) matrix pencil to the nearest matrix pencil in 2-norm that has a set of specified eigenvalues. We derive a singular value optimization characterization for this problem and illustrate its usefulness fo ...
This paper presents a Model Predictive Control (MPC) scheme to solve the target estimation and tracking problem. The objective is to derive a feedback law that drives a follower vehicle to a target vehicle using on-line estimation of the target position an ...
This paper proposes a stability verification method for systems controlled by an early terminated first-order method (e.g., an MPC problem approximately solved by a fixed number of iterations of the fast gradient method). The method is based on the observa ...
Control of the longitudinal beam dynamics in heavy ion synchrotrons is a challenging task due primarily to the very fast time constants present in the system. Recently, the authors developed a model predictive controller for this system and demonstrated th ...
We consider an imitation learning approach to model robot point-to-point (also known as discrete or reaching) movements with a set of autonomous Dynamical Systems (DS). Each DS model codes a behavior (such as reaching for a cup and swinging a golf club) at ...
