Model predictive control (MPC) is another well-known method originating from the process industry with the advantages of strong robustness and simple implementation [34]. Based on the system prediction model, the control input at each sampling time is determined by online optimization of a cost ...
This paper presents a novel model predictive control (MPC) approach to tracking control of mobile robots based on recurrent neural networks (RNNs). The tracking control problem is firstly formulated adoi:10.1007/978-3-319-26555-1_33Shuzhan Bi...
I have already seen and tried the example of the realtimel4casadi application (the double integrator example), so I tried to structure my code for the realtime neural MPC problem with the unicycle using as a base the double integrator example. I think that the main problem is related to t...
but is not that compatible with NN inference. Pytorch is slow to calculate Jacobian when model is only partially described by NN. For Jax, all the operations has the similar time consumption. That could come from the Python-XLA overheads, and later iLQR-MPC testing shows that increasing the ...
We also measure computation time to assess the advantages of deploying the NN over the MPC-MIQP solution. Subsequently, the NN is employed to drive the robot in MATLAB® simulations based on the LIPM, in Gazebo Conclusions In this paper, we presented a neural network designed to emulate ...
Real-time constrained predictive control of a 3d crane system In 2004 IEEE Conference on Robotics, Automation and Mechatronicss, Singapore (2004), pp. 583-587 View in ScopusGoogle Scholar Deng et al., 2009 J. Deng, V.M. Becerra, R. Stobart Input constraints handling in a mpc/feedback li...
Towards Real-Time Machine Learning-Based Signal/Background Selection in the CMS Detector Using Quantized Neural Networks and Input Data Reduction The Large Hadron Collider (LHC) is being prepared for an extensive upgrade to boost its particle discovery potential. The new phase, High Luminosity LHC,...
real-time control system [′rēl ‚tīm kən′trōl ‚sis·təm] (computer science) A computer system which controls an operation in real time, such as a rocket flight. McGraw-Hill Dictionary of Scientific & Technical Terms, 6E, Copyright © 2003 by The McGraw-Hill Companies, Inc...
Reinforcement learning-based model predictive control for discrete-time systems IEEE Transactions on Neural Networks and Learning Systems (2023), pp. 1-13 Google Scholar Chang et al., 2021 S. Chang, J. Wang, C. Liu, G. Yi, M. Lu, Y. Che, X. Wei A data driven experimental system for...
Fuzzy wavelet neural adaptive finite-time self-triggered fault-tolerant control for a quadrotor unmanned aerial vehicle with scheduled performance. The present paper improves previous works where partitioned scheduling was used (Facchinetti & Della Vedova, 2011). In the cited paper, the loads were par...