A Simple Robust MPC for Linear Systems with Parametric and Additive Uncertainty

1 code implementation • 23 Mar 2021 • Monimoy Bujarbaruah, Ugo Rosolia, Yvonne R. Stürz, Francesco Borrelli

We propose a simple and computationally efficient approach for designing a robust Model Predictive Controller (MPC) for constrained uncertain linear systems.

Parameter Identification for Digital Fabrication: A Gaussian Process Learning Approach

no code implementations • 20 Dec 2020 • Yvonne R. Stürz, Mohammad Khosravi, Roy S. Smith

This is beneficial since measurements of the cable net form on the construction site are very expensive.

Gaussian Processes

Trajectory Optimization for Nonlinear Multi-Agent Systems using Decentralized Learning Model Predictive Control

1 code implementation • 2 Apr 2020 • Edward L. Zhu, Yvonne R. Stürz, Ugo Rosolia, Francesco Borrelli

We present a decentralized minimum-time trajectory optimization scheme based on learning model predictive control for multi-agent systems with nonlinear decoupled dynamics and coupled state constraints.

Collision Avoidance Model Predictive Control