3 papers indexed
Trinh Tran, Binh Nguyen, Truong X. Nghiem
Scenario-based model predictive control (SBMPC) is a variant of model predictive control (MPC) that explicitly accounts for uncertainty by optimizing control actions over multiple predicted scenarios. However, its computational complexity increases rapidly with the number of scen…
Nam T. Nguyen, Binh Nguyen, Ahmad Amine, Thanh Vo-Duy, Rahul Mangharam, Truong X. Nghiem
This paper presents Adaptive Differentiable Model Predictive Contouring Control (AD-MPCC), a framework for autonomous racing that integrates differentiable MPCC with online parameter estimation to handle varying road-surface conditions. For online parameter estimation, we leverag…
Binh Nguyen, Colleen Josephson, Mircea Teodorescu, Gert Cauwenberghs, Jason Eshraghian
Neuromorphic and edge computing research has focused on reducing the inference cost of neural network controllers, yet in physical closed-loop systems the actuator can rival or exceed an efficient controller in energy. An efficient controller is therefore necessary but not suffic…