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Colin Neil Jones

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Related publications (246)

Providing ancillary service with commercial buildings: the Swiss perspective

Ali Ahmadi Khatir, Colin Neil Jones, Faran Ahmed Qureshi, Ioannis Lymperopoulos, Xuan Truong Nghiem

Ancillary services constitute the cornerstone of the power grid. They allow for an efficient system operation, provide resilience to uncertainties and establish safeguards against unprecedented events. Their importance is growing due to the rise of grid de ...

2015

Optimization Based Control for Target Estimation and Tracking via Highly Observable Trajectories An Application to Motion Control of Autonomous Robotic Vehicles

Colin Neil Jones, Andrea Alessandretti, António Pedro Rodrigues de Aguiar

This paper proposes a Model Predictive Control (MPC) scheme to solve the target estimation and tracking problem. The objective is to derive a feedback law that drives an autonomous robotic vehicle to follow a target vehicle using an on-line estimate of the ...

Springer-Verlag Berlin2015

A Model Predictive Control scheme with Ultimate Bound for Economic Optimization

Colin Neil Jones, Andrea Alessandretti

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 ...

2015

Optimization based control for target estimation and tracking via highly observable trajectories

Colin Neil Jones, Andrea Alessandretti, António Pedro Rodrigues de Aguiar

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 ...

2014

Stochastic MPC framework for controlling the average constraint violation

Colin Neil Jones, Milan Korda

This paper considers linear discrete-time systems with additive, bounded, disturbances subject to hard control input bounds and a stochastic constraint on the amount of state-constraint violation averaged over time. The amount of violations is quantified b ...

Institute of Electrical and Electronics Engineers2014

Parametric Polytope Reconstruction, an Application to Crystal Shape Estimation

Colin Neil Jones, Jean-Hubert Hours

In situ imaging techniques are a promising direction for monitoring the distribution of crystal sizes and shapes during a crystallization process. Nevertheless, no tractable method yet exists for estimating complex crystal shapes. In this paper, an in situ ...

Institute of Electrical and Electronics Engineers2014

Turnpike and dissipativity properties in dynamic real-time optimization and economic MPC

Dominique Bonvin, Colin Neil Jones, Milan Korda, Timm Faulwasser

We investigate the turnpike and dissipativity properties of continuous-time optimal control problems. These properties play a key role in the analysis and design of schemes for dynamic real-time optimization and economic model predictive control. We show i ...

2014

An Augmented Lagrangian Coordination-Decomposition Algorithm for Solving Distributed Non-Convex Programs

Colin Neil Jones, Jean-Hubert Hours

A novel augmented Lagrangian method for solving non-convex programs with nonlinear cost and constraint couplings in a distributed framework is presented. The proposed decomposition algorithm is made of two layers: The outer level is a standard multiplier m ...

2014

A parametric multi-convex splitting technique with application to real-time NMPC

Colin Neil Jones, Jean-Hubert Hours

A novel splitting scheme to solve parametric multi-convex programs is presented. It consists of a fixed number of proximal alternating minimisations and a dual update per time step, which makes it attractive in a real-time Nonlinear Model Predictive Contro ...

2014

Certification of fixed computation time first-order optimization-based controllers for a class of nonlinear dynamical systems

Colin Neil Jones, Milan Korda

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 ...

Ieee2014

Solving the infinite-horizon constrained LQR problem using splitting techniques

Georgios Stathopoulos, Colin Neil Jones, Milan Korda

This paper presents a method to solve the constrained infinite-time linear quadratic regulator (LQR) problem. We use an operator splitting technique, namely the alternating minimization algorithm (AMA), to split the problem into an unconstrained LQR proble ...

Elsevier2014

On real-time robust model predictive control

Colin Neil Jones, Melanie Nicole Zeilinger

High-speed applications impose a hard real-time constraint on the solution of a model predictive control (MPC) problem, which generally prevents the computation of the optimal control input. As a result, in most MPC implementations guarantees on feasibilit ...

Elsevier2014

Learning decision rules for energy efficient building control

Colin Neil Jones

While rule based control (RBC) is current practice in most building automation systems that issue discrete control signals, recent simulation studies suggest that advanced, optimization based control methods such as hybrid model predictive control (HMPC) c ...

Elsevier2014

Inexact Fast Alternating Minimization Algorithm for Distributed Model Predictive Control

Colin Neil Jones, Ye Pu, Melanie Nicole Zeilinger

2014

Flexible triangular formation keeping of marine robotic vehicles using range measurements

Colin Neil Jones, Jorge Miguel Dias Almeida Rodrigues Soares, Francisco Fernandes Castro Rego

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but h ...

2014

Soft Constrained Model Predictive Control With Robust Stability Guarantees

Colin Neil Jones, Melanie Nicole Zeilinger

Soft constrained model predictive control (MPC) is frequently applied in practice in order to ensure feasibility of the optimization during online operation. Standard techniques offer global feasibility by relaxing state or output constraints, but cannot e ...

Institute of Electrical and Electronics Engineers2014

An Economic Model Predictive Control scheme with terminal penalty for continuous-time systems

Colin Neil Jones, Andrea Alessandretti

In this paper, convergence and performance properties of a sample-data continuous time model predictive control (MPC) scheme with economic performance index are developed. In particular, we provide sufficient conditions for convergence of the close loop st ...

2014

Stochastic Model Predictive Control for Building Climate Control

Colin Neil Jones

In this brief paper, a Stochastic Model Predictive Control formulation tractable for large-scale systems is developed. The proposed formulation combines the use of Affine Disturbance Feedback, a formulation successfully applied in robust control, with a de ...

Institute of Electrical and Electronics Engineers2014

Convex computation of the maximum controlled invariant set for polynomial control systems

Colin Neil Jones, Milan Korda

We characterize the maximum controlled invariant (MCI) set for discrete- as well as continuous-time nonlinear dynamical systems as the solution of an infinite-dimensional linear programming problem. For systems with polynomial dynamics and compact semialge ...

Society for Industrial and Applied Mathematics2014

Dominant speed factors of active set methods for fast MPC

Colin Neil Jones

The paper presents a review of active set (AS) algorithms that have been deployed for implementation of fast model predictive control (MPC). The main purpose of the survey is to identify the dominant features of the algorithms that contribute to fast execu ...

Wiley-Blackwell2014

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