Lectures - Model Predictive Control

Lectures on Model Predictive Control

Fundamentals

	Details
Linear Model Predictive Control The MPC controller controls vehicle speed and steering based on linearized model.	Book
Nominal Nonlinear Model Predictive Control Nonlinear model predictive control (NMPC) for multivariable control problems with process constraints.	Book

Advanced MPC Methods

	Details
Learning Model Predictive Control for Autonomous Racing Data-driven control framework that learns from experience to drive faster on race tracks.	Book
LPV Model Predictive Control for Racing Linear Parameter Varying (LPV) MPC approach for high-performance autonomous racing.	Book

Applications

	Details
Trajectory Tracking with Quadrotor by LMPC Learning Model Predictive Control for trajectory tracking with quadrotor systems.	Book
MPC with Discrete-time Control Barrier Functions Integration of safety constraints through Control Barrier Functions in MPC formulations.	Book

Related Optimization Methods

	Details
iLQR/DDP Algorithm for Nonlinear Trajectory Optimization Iterative Linear Quadratic Regulator and Differential Dynamic Programming for nonlinear optimal control.	Book

Recommended Readings

Jan Maciejowski (2002). Predictive Control with Constraints. Prentice Hall.
Manfred Morari and Jay H. Lee (1999). Model predictive control: past, present and future. Computers & Chemical Engineering.
James B. Rawlings, David Q. Mayne, and Moritz M. Diehl (2017). Model Predictive Control: Theory, Computation, and Design. Nob Hill Publishing.
Eduardo F. Camacho and Carlos Bordons (2007). Model Predictive Control. Springer-Verlag.
Model Predictive Control course materials and tutorials:

https://web.stanford.edu/class/ee364b/

https://www.mpc.berkeley.edu/

https://www.do-mpc.com/en/latest/

--- title: Lectures - Model Predictive Control echo: false --- ## Lectures on Model Predictive Control #### Fundamentals ```{python} from IPython.display import Markdown def table_lecture(lectures): # header text = """ | | Details | |----------|--------|""" # fields for key, desc in lectures.items(): text += f""" | {desc} | [Book](posts/{key}.html){{target="_blank"}} |""" # finish text += """ : {tbl-colwidths="[80, 20]"} """ return Markdown(text) ``` ```{python} lecs = { 'Linear-Model-Predictive-Control': """**Linear Model Predictive Control**\\ The MPC controller controls vehicle speed and steering based on linearized model.""", 'Nominal-Nonlinear-Model-Predictive-Control': """**Nominal Nonlinear Model Predictive Control**\\ Nonlinear model predictive control (NMPC) for multivariable control problems with process constraints.""", } table_lecture(lecs) ``` #### Advanced MPC Methods ```{python} lecs = { 'Learning-MPC-for-Racing': """**Learning Model Predictive Control for Autonomous Racing**\\ Data-driven control framework that learns from experience to drive faster on race tracks.""", 'LPV-MPP-MCP-for-racing': """**LPV Model Predictive Control for Racing**\\ Linear Parameter Varying (LPV) MPC approach for high-performance autonomous racing.""", } table_lecture(lecs) ``` #### Applications ```{python} lecs = { 'MPC-for-Quadrotor': """**Trajectory Tracking with Quadrotor by LMPC**\\ Learning Model Predictive Control for trajectory tracking with quadrotor systems.""", 'Model-Predictive-Control-with-discrete-time-Control-Barrier-Functions': """**MPC with Discrete-time Control Barrier Functions**\\ Integration of safety constraints through Control Barrier Functions in MPC formulations.""", } table_lecture(lecs) ``` #### Related Optimization Methods ```{python} lecs = { 'Iterative-Linear-Quadratic-Regulator-and-Differential-Dynamic-PRogramming': """**iLQR/DDP Algorithm for Nonlinear Trajectory Optimization**\\ Iterative Linear Quadratic Regulator and Differential Dynamic Programming for nonlinear optimal control.""", } table_lecture(lecs) ``` ## Recommended Readings * Jan Maciejowski (2002). Predictive Control with Constraints. Prentice Hall. * Manfred Morari and Jay H. Lee (1999). Model predictive control: past, present and future. Computers & Chemical Engineering. * James B. Rawlings, David Q. Mayne, and Moritz M. Diehl (2017). Model Predictive Control: Theory, Computation, and Design. Nob Hill Publishing. * Eduardo F. Camacho and Carlos Bordons (2007). Model Predictive Control. Springer-Verlag. * Model Predictive Control course materials and tutorials: <https://web.stanford.edu/class/ee364b/> <https://www.mpc.berkeley.edu/> <https://www.do-mpc.com/en/latest/>