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Alternative parameterisations for predictive control: How and why?

Related publications (30)

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Many robotics problems are formulated as optimization problems. However, most optimization solvers in robotics are locally optimal and the performance depends a lot on the initial guess. For challenging problems, the solver will often get stuck at poor loc ...

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Real-Time Nonlinear Model Predictive Control for Fast Mechatronic Systems

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This thesis presents an efficient and extensible numerical software framework for real-time model-based control. We are motivated by complex and challenging mechatronic applications spanning from flight control of fixed-wing aircraft and thrust vector cont ...

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This thesis addresses theoretical and practical aspects of identification and subsequent control of self-exciting point processes. The main contributions correspond to four separate scientific papers. In the first paper, we address the challenge of robust ...

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PERGAMON-ELSEVIER SCIENCE LTD2022

Optimal Thrust Vector Control of an Electric Small-Scale Rocket Prototype

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On Topological Equivalence in Linear Quadratic Optimal Control

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Dynamical systems are topologically equivalent when their orbits can be mapped onto each other via a homeomorphic change of coordinates. We will show that in general, closed-loop systems resulting from Linear Quadratic Optimal Control problems are all topo ...

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Perimeter Control and Route Guidance of Multi-Region MFD Systems With Boundary Queues Using Colored Petri Nets

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Perimeter control based on Macroscopic Fundamental Diagram (MFD) aims to meter the number of transferring vehicles at the periphery of the protected urban region in order to obtain the desired number of vehicles in that region. The advantage of perimeter c ...

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This paper presents the first successful experiment implementing whole-body model predictive control with state feedback on a torque-control humanoid robot. We demonstrate that our control scheme is able to do whole-body target tracking, control the balanc ...

IEEE2021

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Mario Paolone, Sherif Alaa Salaheldin Fahmy

With the increasing need of real-time regulation in power systems, grid-aware-control-frameworks are relying more often on sensitivity coefficients (SCs) to formulate and efficiently solve optimal control problems. As known, SCs are the derivatives of cont ...

IEEE2021

Emergence of diauxie as an optimal growth strategy under resource allocation constraints in cellular metabolism

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Diauxie, or the sequential consumption of carbohydrates in bacteria such as Escherichia coli, has been hypothesized to be an evolutionary strategy which allows the organism to maximize its instantaneous specific growth-giving the bacterium a competitive ad ...

National Academy of Sciences2021