Nettet1. sep. 2008 · Model predictive control (MPC) is one of the few control techniques able to consider constraints, on both state and inputs of the system, in the design of the control law for linear, nonlinear or uncertain systems ( … Nettet1. jan. 2005 · MPC FOR TRACKING OF PIECE-WISE ... Blanchini, F. & Miani, S. (2000), `Any domain of attraction for a linear constrained system is a tracking domain of ...
[2304.04366] Learning Residual Model of Model Predictive Control …
Nettet28. mar. 2024 · Since robust tracking MPCs usually consider additive disturbance, the recursive feasibility of these methods may be lost in the presence of non-additive non-slowly varying disturbance. The robust tracking MPC presented here extends the artificial reference-based MPC to deal with both changing setpoints and non-additive non-slowly … Nettet15. feb. 2024 · Abstract: In this article, a novel reinforcement learning (RL) method is developed to solve the optimal tracking control problem of unknown nonlinear multiagent systems (MASs). Different from the representative RL-based optimal control algorithms, an internal reinforce Q-learning (IrQ-L) method is proposed, in which an internal … header section in word
Linear Tracking MPC for Nonlinear Systems—Part I: The
Nettet10. apr. 2024 · One major issue in learning-based model predictive control (MPC) for autonomous driving is the contradiction between the system model's prediction accuracy and computation efficiency. The more situations a system model covers, the more complex it is, along with highly nonlinear and nonconvex properties. These issues … Nettet1 Linear tracking MPC for nonlinear systems Part II: The data-driven case Julian Berberich1, Johannes Kohler¨ 1;2, Matthias A. Muller¨ 3, and Frank Allgower¨ . … NettetNonlinear MPC (NMPC) is an e"ective way of tack-ling problems with nonlinear constraints and dynam-ics. Although not as widely used as linear MPC, NMPC has a long history of deployment in the process indus-try (Allgöwer, Nagy, & Findeisen,2002), where the rela-tively slow systems at hand leave room for computation- gold kettle and toaster