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Liao Y-W and Borrelli F (2019), "An adaptive approach to real-time estimation of vehicle sideslip, road bank angles and sensor bias", IEEE Transactions on Vehicular Technology. IEEE.
BibTeX:
@article{Liao2019,
  author = {Liao, Yi-Wen and Borrelli, Francesco},
  title = {An adaptive approach to real-time estimation of vehicle sideslip, road bank angles and sensor bias},
  journal = {IEEE Transactions on Vehicular Technology},
  publisher = {IEEE},
  year = {2019}
}
Rosolia U and Borrelli F (2019), "Learning How to Autonomously Race a Car: a Predictive Control Approach", TCST in review.
BibTeX:
@article{Rosolia2019,
  author = {Rosolia, Ugo and Borrelli, Francesco},
  title = {Learning How to Autonomously Race a Car: a Predictive Control Approach},
  journal = {TCST in review},
  year = {2019}
}
Rosolia U and Borrelli F (2019), "Sample-Based Learning Model Predictive Control for Linear Uncertain Systems", In 2019 IEEE Conference on Decision and Control (CDC) - to appear.
BibTeX:
@article{Rosolia2019a,
  author = {Rosolia, Ugo and Borrelli, Francesco},
  title = {Sample-Based Learning Model Predictive Control for Linear Uncertain Systems},
  booktitle = {2019 IEEE Conference on Decision and Control (CDC) - to appear},
  year = {2019}
}
Rosolia U, Zhang X and Borrelli F (2019), "Simple Policy Evaluation for Data-Rich Iterative Tasks", IEEE American Control Conference (ACC).
BibTeX:
@article{Rosolia2019b,
  author = {Rosolia, Ugo and Zhang, Xiaojing and Borrelli, Francesco},
  title = {Simple Policy Evaluation for Data-Rich Iterative Tasks},
  journal = {IEEE American Control Conference (ACC)},
  year = {2019}
}
Rosolia U, Zhang X and Borrelli F (2019), "Simple Policy Evaluation for Data-Rich Iterative Tasks", In American Control Conference. , pp. 2855-2860.
BibTeX:
@inproceedings{Rosolia2019c,
  author = {Ugo Rosolia and Xiaojing Zhang and Francesco Borrelli},
  title = {Simple Policy Evaluation for Data-Rich Iterative Tasks},
  booktitle = {American Control Conference},
  year = {2019},
  pages = {2855--2860}
}
Sangjae Bae Yongkeun Choi YKJGFB and Moura S (2019), "Real-time Ecological Velocity Planning for Plug-in Hybrid Vehicles with Partial Communication to Traffic Lights", In Proceedings 58th Conference on Decision and Control.
BibTeX:
@inproceedings{SangjaeBae2019,
  author = {Sangjae Bae, Yongkeun Choi, Yeojun Kim, Jacopo Guanetti, Francesco Borrelli, and Scott Moura},
  title = {Real-time Ecological Velocity Planning for Plug-in Hybrid Vehicles with Partial Communication to Traffic Lights},
  booktitle = {Proceedings 58th Conference on Decision and Control},
  year = {2019}
}
Svensson L, Bujarbaruah M, Kapania N and Torngren M (2019), "Adaptive Trajectory Planning and Optimization at Limits of Handling", arXiv preprint arXiv:1903.04240., July, 2019.
BibTeX:
@article{Svensson2019,
  author = {Lars Svensson and Monimoy Bujarbaruah and Nitin Kapania and Martin Torngren},
  title = {Adaptive Trajectory Planning and Optimization at Limits of Handling},
  journal = {arXiv preprint arXiv:1903.04240},
  year = {2019}
}
Zhang X, Bujarbaruah M and Borrelli F (2019), "Safe and Near-Optimal Policy Learning for Model Predictive Control using Primal-Dual Neural Networks", In American Control Conference. , pp. 354-359.
BibTeX:
@inproceedings{Zhang2019,
  author = {Xiaojing Zhang and Monimoy Bujarbaruah and Francesco Borrelli},
  title = {Safe and Near-Optimal Policy Learning for Model Predictive Control using Primal-Dual Neural Networks},
  booktitle = {American Control Conference},
  year = {2019},
  pages = {354--359}
}
Zhang X, Bujarbaruah M and Borrelli F (2019), "Safe and Near-Optimal Policy Learning for Model Predictive Control using Primal-Dual Neural Networks".
BibTeX:
@misc{Zhang2019a,
  author = {Xiaojing Zhang and Monimoy Bujarbaruah and Francesco Borrelli},
  title = {Safe and Near-Optimal Policy Learning for Model Predictive Control using Primal-Dual Neural Networks},
  year = {2019}
}
Bujarbaruah M, Zhang X, Rosolia U and Borrelli F (2018), "Adaptive MPC for Iterative Tasks", In 2018 IEEE Conference on Decision and Control (CDC)., Dec, 2018. , pp. 6322-6327.
BibTeX:
@inproceedings{Bujarbaruah2018,
  author = {M. Bujarbaruah and X. Zhang and U. Rosolia and F. Borrelli},
  title = {Adaptive MPC for Iterative Tasks},
  booktitle = {2018 IEEE Conference on Decision and Control (CDC)},
  year = {2018},
  pages = {6322-6327},
  doi = {10.1109/CDC.2018.8618694}
}
Bujarbaruah M, Zhang X, Tseng E and Borrelli F (2018), "Adaptive MPC for Autonomous Lane Keeping", In International Symposium on Advanced Vehicle Control (AVEC).
BibTeX:
@inproceedings{Bujarbaruah2018a,
  author = {Monimoy Bujarbaruah and Xiaojing Zhang and Eric Tseng and Francesco Borrelli},
  title = {Adaptive MPC for Autonomous Lane Keeping},
  booktitle = {International Symposium on Advanced Vehicle Control (AVEC)},
  year = {2018}
}
Firoozi R, Nazari S, Guanetti J, O'Gorman R and Borrelli F (2018), "Safe Adaptive Cruise Control with Road Grade Preview and V2V Communication", CoRR. Vol. abs/1810.09000
BibTeX:
@article{Firoozi2018,
  author = {Roya Firoozi and Shima Nazari and Jacopo Guanetti and Ryan O'Gorman and Francesco Borrelli},
  title = {Safe Adaptive Cruise Control with Road Grade Preview and V2V Communication},
  journal = {CoRR},
  year = {2018},
  volume = {abs/1810.09000},
  url = {http://arxiv.org/abs/1810.09000}
}
Firoozi R, Guanetti J, Horowitz R and Borrelli F (2018), "Vehicle Localization and Control on Roads with Prior Grade Map", In 2018 IEEE Conference on Decision and Control (CDC)., Dec, 2018. , pp. 6982-6987.
BibTeX:
@inproceedings{Firoozi2018a,
  author = {R. Firoozi and J. Guanetti and R. Horowitz and F. Borrelli},
  title = {Vehicle Localization and Control on Roads with Prior Grade Map},
  booktitle = {2018 IEEE Conference on Decision and Control (CDC)},
  year = {2018},
  pages = {6982-6987},
  doi = {10.1109/CDC.2018.8619538}
}
Guanetti J, Kim Y and Borrelli F (2018), "Control of connected and automated vehicles: State of the art and future challenges", Annual Reviews in Control., May, 2018. Vol. 45, pp. 18 - 40.
BibTeX:
@article{Guanetti2018,
  author = {Jacopo Guanetti and Yeojun Kim and Francesco Borrelli},
  title = {Control of connected and automated vehicles: State of the art and future challenges},
  journal = {Annual Reviews in Control},
  year = {2018},
  volume = {45},
  pages = {18 - 40},
  url = {http://www.sciencedirect.com/science/article/pii/S1367578818300336},
  doi = {10.1016/j.arcontrol.2018.04.011}
}
Kim Y, Zhang X, Guanetti J and Borrelli F (2018), "Robust Model Predictive Control with Adjustable Uncertainty Sets", In 2018 IEEE Conference on Decision and Control (CDC)., Dec, 2018. , pp. 5176-5181.
BibTeX:
@inproceedings{Kim2018,
  author = {Y. Kim and X. Zhang and J. Guanetti and F. Borrelli},
  title = {Robust Model Predictive Control with Adjustable Uncertainty Sets},
  booktitle = {2018 IEEE Conference on Decision and Control (CDC)},
  year = {2018},
  pages = {5176-5181},
  doi = {10.1109/CDC.2018.8619158}
}
Koehler SM, Chuang F, Ma Y, Daly A and Borrelli F (2018), "Distributed Model Predictive Control for Forced-Air Systems", Intelligent Building Control Systems., January, 2018. Springer.
Abstract: This chapter focuses on advanced control design, specifically for forced air HVAC systems. Such advanced control schemes incorporate predictions of weather, occupancy, renewable energy availability, and energy price signals in order to deliver performance-driven automated decision making at a hierarchy of levels. The chapter covers thermal modeling for controls, predictive control design, and implementation of such controllers in real-world buildings. An overview of standard computational platforms and communication systems in buildings is reported. Our main objective is to discuss how advanced control relates to the existing building practices; in particular, a distributed control logic “Trim and Respond” is described in detail. The “Trim and Respond” logic is shown to match a one-step explicit distributed model predictive controller. The chapter concludes with an algorithm for advanced distributed model predictive control that is implementable on existing distributed building control architectures.
BibTeX:
@article{Koehler2018,
  author = {Koehler, Sarah M. and Chuang, Frank and Ma, Yudong and Daly, Allan and Borrelli, Francesco},
  title = {Distributed Model Predictive Control for Forced-Air Systems},
  journal = {Intelligent Building Control Systems},
  publisher = {Springer},
  year = {2018},
  url = {http://dx.doi.org/10.1007/978-3-319-68462-8_7},
  doi = {10.1007/978-3-319-68462-8_7}
}
Rosolia U and Borrelli F (2018), "Learning Model Predictive Control for Iterative Tasks. A Data-Driven Control Framework", IEEE Transactions on Automatic Control., July, 2018. Vol. 63(7), pp. 1883-1896.
BibTeX:
@article{Rosolia2018,
  author = {U. Rosolia and F. Borrelli},
  title = {Learning Model Predictive Control for Iterative Tasks. A Data-Driven Control Framework},
  journal = {IEEE Transactions on Automatic Control},
  year = {2018},
  volume = {63},
  number = {7},
  pages = {1883--1896},
  doi = {10.1109/TAC.2017.2753460}
}
Rosolia U, Zhang X and Borrelli F (2018), "Data-Driven Predictive Control for Autonomous Systems", Annual Review of Control, Robotics, and Autonomous Systems., May, 2018. Vol. 1(1), pp. 259-286.
Abstract: In autonomous systems, the ability to make forecasts and cope with uncertain predictions is synonymous with intelligence. Model predictive control (MPC) is an established control methodology that systematically uses forecasts to compute real-time optimal control decisions. In MPC, at each time step an optimization problem is solved over a moving horizon. The objective is to find a control policy that minimizes a predicted performance index while satisfying operating constraints. Uncertainty in MPC is handled by optimizing over multiple uncertain forecasts. In this case, performance index and operating constraints take the form of functions defined over a probability space, and the resulting technique is called stochastic MPC. Our research over the past 10 years has focused on predictive control design methods that systematically handle uncertain forecasts in autonomous and semiautonomous systems. In the first part of this article, we present an overview of the approach we use, its main advantages, and its challenges. In the second part, we present our most recent results on data-driven predictive control. We show how to use data to efficiently formulate stochastic MPC problems and autonomously improve performance in repetitive tasks. The proposed framework is able to handle a large set of predicted scenarios in real time and learn from historical data.
BibTeX:
@article{Rosolia2018a,
  author = {Rosolia, Ugo and Zhang, Xiaojing and Borrelli, Francesco},
  title = {Data-Driven Predictive Control for Autonomous Systems},
  journal = {Annual Review of Control, Robotics, and Autonomous Systems},
  year = {2018},
  volume = {1},
  number = {1},
  pages = {259-286},
  url = { 

https://doi.org/10.1146/annurev-control-060117-105215

}, doi = {10.1146/annurev-control-060117-105215} }
Rosolia U, Zhang X and Borrelli F (2018), "A Stochastic MPC Approach with Application to Iterative Learning", In 2018 IEEE Conference on Decision and Control (CDC)., Dec, 2018. , pp. 5152-5157.
BibTeX:
@inproceedings{Rosolia2018b,
  author = {Rosolia, Ugo and Zhang, Xiaojing and Borrelli, Francesco},
  title = {A Stochastic MPC Approach with Application to Iterative Learning},
  booktitle = {2018 IEEE Conference on Decision and Control (CDC)},
  year = {2018},
  pages = {5152--5157},
  doi = {10.1109/CDC.2018.8619268}
}
Shin D, Kim B, Yi K, Carvalho A and Borrelli F (2018), "Human-Centered Risk Assessment of an Automated Vehicle Using Vehicular Wireless Communication", IEEE Transactions on Intelligent Transportation Systems., May, 2018. , pp. 1-15.
BibTeX:
@article{Shin2018,
  author = {D. Shin and B. Kim and K. Yi and A. Carvalho and F. Borrelli},
  title = {Human-Centered Risk Assessment of an Automated Vehicle Using Vehicular Wireless Communication},
  journal = {IEEE Transactions on Intelligent Transportation Systems},
  year = {2018},
  pages = {1--15},
  doi = {10.1109/TITS.2018.2823744}
}
Zhang X, Liniger A, Sakai A and Borrelli F (2018), "Autonomous Parking Using Optimization-Based Collision Avoidance", In 2018 IEEE Conference on Decision and Control (CDC)., Dec, 2018. , pp. 4327-4332.
BibTeX:
@inproceedings{Zhang2018,
  author = {X. Zhang and A. Liniger and A. Sakai and F. Borrelli},
  title = {Autonomous Parking Using Optimization-Based Collision Avoidance},
  booktitle = {2018 IEEE Conference on Decision and Control (CDC)},
  year = {2018},
  pages = {4327-4332},
  doi = {10.1109/CDC.2018.8619433}
}
Bujarbaruah M, Xiaojing Z and Borrelli F (2018), "Adaptive MPC with Chance Constraints for FIR Systems", In American Control Conference., June, 2018.
BibTeX:
@inproceedings{,
  author = {M. Bujarbaruah, Z. Xiaojing, F. Borrelli},
  title = {Adaptive MPC with Chance Constraints for FIR Systems},
  booktitle = {American Control Conference},
  year = {2018}
}
Bertoni, and Guanetti, Jacopo and Basso, Maria and Masoero, Marco and Cetinkunt, Sabri and Borrelli, Francesco (2017), "An adaptive cruise control for connected energy-saving electric vehicle", In Proceedings 2017 IFAC World Congress., 10, 2017.
BibTeX:
@inproceedings{Bertoni2017,
  author = {Bertoni, and Guanetti, Jacopo and Basso, Maria and Masoero, Marco and Cetinkunt, Sabri and Borrelli, Francesco},
  title = {An adaptive cruise control for connected energy-saving electric vehicle},
  booktitle = {Proceedings 2017 IFAC World Congress},
  year = {2017}
}
Borrelli F, Bemporad A and Morari M (2017), "Predictive Control", December, 2017. Cambridge Press.
BibTeX:
@book{Borrelli2017,
  author = {F. Borrelli and A. Bemporad and M. Morari},
  title = {Predictive Control},
  publisher = {Cambridge Press},
  year = {2017},
  url = {http://www.mpc.berkeley.edu/mpc-course-material}
}
Brunner M, Rosolia U, Gonzales J and Borrelli F (2017), "Repetitive Learning Model Predictive Control: \An Autonomous Racing Example", In Proceedings 56th Conference on Decision and Control., 12, 2017.
BibTeX:
@inproceedings{Brunner2017,
  author = {Brunner, Maximilian and Rosolia, Ugo and Gonzales, Jon and Borrelli, Francesco},
  title = {Repetitive Learning Model Predictive Control: \An Autonomous Racing Example},
  booktitle = {Proceedings 56th Conference on Decision and Control},
  year = {2017}
}
Bujarbaruah M, Ercan Z, Ivanovic V, Tseng HE and Borrelli F (2017), "Torque Based Lane Change Assistance with Active Front Steering", In IEEE 20th International Conference on Intelligent Transportation Systems (ITSC2017). Yokohama, Japan, October, 2017.
Abstract: This paper presents the design of a driver steering assistance system
(DSAS). We consider a vehicle equipped with an Electric Power Assisted
Steering (EPAS) and an Active Front Steering (AFS) unit. The steering
assistance system uses the EPAS and the AFS to command a hand wheel torque
feedback which can autonomously steer the vehicle or assist the driver. It
also uses the AFS to superimpose an additional angle to the steering
column. This allows us to control the hand wheel rotation at different
input feedback torque values. We use a Model Predictive Controller (MPC) to
compute the optimal torque feedback input to the hand wheel along with the
commanded AFS superposition angle in both autonomous and assisted driving
scenarios. The MPC employs a model of the steering dynamics and a driver
steering behavior in order to obtain lesser hand wheel rotation during a
same lane change maneuver as compared to a conventional EPAS system without
AFS. We also make sure driver torque effort is within allowable limits. We
validate the proposed approach by performing simulations for both
autonomous and driver assisted scenarios. The results show the significant
decrease in hand wheel rotation due to the presence of AFS while
successfully performing the lane change.
BibTeX:
@inproceedings{Bujarbaruah2017,
  author = {Monimoy Bujarbaruah and Ziya Ercan and Vladimir Ivanovic and H. Eric Tseng and Francesco Borrelli},
  title = {Torque Based Lane Change Assistance with Active Front Steering},
  booktitle = {IEEE 20th International Conference on Intelligent Transportation Systems (ITSC2017)},
  year = {2017}
}
Jelavic E, Gonzales J and Borrelli F (2017), "Autonomous Drift Parking using a Switched Control Strategy with Onboard Sensors", In Proceedings 2017 IFAC World Congress., 10, 2017.
BibTeX:
@inproceedings{E.Jelavic2017,
  author = {E. Jelavic and J. Gonzales and F. Borrelli},
  title = {Autonomous Drift Parking using a Switched Control Strategy with Onboard Sensors},
  booktitle = {Proceedings 2017 IFAC World Congress},
  year = {2017}
}
Ercan Z, Carvalho A, Gokasan M and Borrelli F (2017), "Modeling, Identification, and Predictive Control of a Driver Steering Assistance System", IEEE Transactions on Human-Machine Systems., 10, 2017. Vol. 47(5)
BibTeX:
@article{Ercan2017,
  author = {Ziya Ercan and Ashwin Carvalho and Metin Gokasan and Francesco Borrelli},
  title = {Modeling, Identification, and Predictive Control of a Driver Steering Assistance System},
  journal = {IEEE Transactions on Human-Machine Systems},
  year = {2017},
  volume = {47},
  number = {5},
  doi = {10.1109/thms.2017.2717881}
}
Ercan Z, Carvalho A, Tseng HE, Gökaşan M and Borrelli F (2017), "A predictive control framework for torque-based steering assistance to improve safety in highway driving", Vehicle System Dynamics., December, 2017. , pp. 1-22. Taylor & Francis.
BibTeX:
@article{Ercan2017a,
  author = {Ercan, Ziya and Carvalho, Ashwin and Tseng, H Eric and Gökaşan, Metin and Borrelli, Francesco},
  title = {A predictive control framework for torque-based steering assistance to improve safety in highway driving},
  journal = {Vehicle System Dynamics},
  publisher = {Taylor & Francis},
  year = {2017},
  pages = {1--22}
}
Ercan Z, Gokasan M and Borrelli F (2017), "An adaptive and predictive controller design for lateral control of an autonomous vehicle", In Proc. IEEE Int. Conf. Vehicular Electronics and Safety (ICVES)., June, 2017. , pp. 13-18.
BibTeX:
@inproceedings{Ercan2017c,
  author = {Z. Ercan and M. Gokasan and F. Borrelli},
  title = {An adaptive and predictive controller design for lateral control of an autonomous vehicle},
  booktitle = {Proc. IEEE Int. Conf. Vehicular Electronics and Safety (ICVES)},
  year = {2017},
  pages = {13--18},
  doi = {10.1109/ICVES.2017.7991894}
}
Zhang F, Gonzales J, Li K and Borrelli F (2017), "Autonomous Drift Cornering with Mixed Open-loop and Closed-loop Control", In Proceedings IFAC World Congress., 10, 2017.
BibTeX:
@inproceedings{F.Zhang2017,
  author = {F. Zhang and J. Gonzales and K. Li and F. Borrelli},
  title = {Autonomous Drift Cornering with Mixed Open-loop and Closed-loop Control},
  booktitle = {Proceedings IFAC World Congress},
  year = {2017}
}
Guanetti, Jacopo and Borrelli, Francesco (2017), "Stochastic MPC for cloud-aided suspension control", In Proceedings 56th Conference on Decision and Control., 12, 2017.
BibTeX:
@inproceedings{Guanetti2017,
  author = {Guanetti, Jacopo and Borrelli, Francesco},
  title = {Stochastic MPC for cloud-aided suspension control},
  booktitle = {Proceedings 56th Conference on Decision and Control},
  year = {2017}
}
Lelouvier, Aaron and Guanetti, Jacopo and Borrelli, Francesco (2017), "Eco-Platooning of Autonomous Electrical Vehicles Using Distributed Model Predictive Control", In 20th International Conference on Intelligent Transportation Systems.
BibTeX:
@inproceedings{Lelouvier2017,
  author = {Lelouvier, Aaron and Guanetti, Jacopo and Borrelli, Francesco},
  title = {Eco-Platooning of Autonomous Electrical Vehicles Using Distributed Model Predictive Control},
  booktitle = {20th International Conference on Intelligent Transportation Systems},
  year = {2017}
}
Rosolia U, Carvalho A and Borrelli F (2017), "Autonomous Racing using Learning Model Predictive Control", In Proceedings 2017 IFAC World Congress., October, 2017.
BibTeX:
@inproceedings{Rosolia2016b,
  author = {Rosolia, U. and Carvalho, A. and Borrelli, F.},
  title = {Autonomous Racing using Learning Model Predictive Control},
  booktitle = {Proceedings 2017 IFAC World Congress},
  year = {2017}
}
Rosolia U and Borrelli F (2017), "Learning Model Predictive Control for Iterative Tasks: A Computationally Efficient Approach for Linear System", In Proceedings 2017 IFAC World Congress., 10, 2017.
BibTeX:
@inproceedings{Rosolia2017,
  author = {Rosolia, U. and Borrelli, F.},
  title = {Learning Model Predictive Control for Iterative Tasks: A Computationally Efficient Approach for Linear System},
  booktitle = {Proceedings 2017 IFAC World Congress},
  year = {2017}
}
Rosolia U, Zhang X and Borrelli F (2017), "Robust Learning Model Predictive Control forUncertain Iterative Tasks: Learning From Experience", In Proceedings 56th Conference on Decision and Control., 12, 2017.
BibTeX:
@inproceedings{Rosolia2017a,
  author = {Rosolia, Ugo and Zhang, Xiaojing and Borrelli, Francesco},
  title = {Robust Learning Model Predictive Control forUncertain Iterative Tasks: Learning From Experience},
  booktitle = {Proceedings 56th Conference on Decision and Control},
  year = {2017}
}
Turri, Valerio and Kim, Yeojun and Guanetti, Jacopo and Johansson, Karl H. and Borrelli, Francesco (2017), "A model predictive controller for non-cooperative eco-platooning", In Proceedings 2017 American Control Conference.
BibTeX:
@inproceedings{Turri2017,
  author = {Turri, Valerio and Kim, Yeojun and Guanetti, Jacopo and Johansson, Karl H. and Borrelli, Francesco},
  title = {A model predictive controller for non-cooperative eco-platooning},
  booktitle = {Proceedings 2017 American Control Conference},
  year = {2017}
}
Vallon C, Ercan Z, Carvalho A and Borrelli F (2017), "A machine learning approach for personalized autonomous lane change initiation and control", In 2017 IEEE Intelligent Vehicles Symposium (IV).
BibTeX:
@inproceedings{Vallon2017,
  author = {C. Vallon and Z. Ercan and A. Carvalho and F. Borrelli},
  title = {A machine learning approach for personalized autonomous lane change initiation and control},
  booktitle = {2017 IEEE Intelligent Vehicles Symposium (IV)},
  year = {2017}
}
Zheng Y, Li SE, Li K, Borrelli F and Hedrick JK (2017), "Distributed Model Predictive Control for Heterogeneous Vehicle Platoons Under Unidirectional Topologies", IEEE Transactions on Control Systems Technology., May, 2017. Vol. 25(3), pp. 899-910.
BibTeX:
@article{Zheng2017,
  author = {Y. Zheng and S. E. Li and K. Li and F. Borrelli and J. K. Hedrick},
  title = {Distributed Model Predictive Control for Heterogeneous Vehicle Platoons Under Unidirectional Topologies},
  journal = {IEEE Transactions on Control Systems Technology},
  year = {2017},
  volume = {25},
  number = {3},
  pages = {899--910},
  doi = {10.1109/TCST.2016.2594588}
}
Cesari G, Schildbach G, Carvalho A and Borrelli F (2017), "Scenario Model Predictive Control for Lane Change Assistance and Autonomous Driving on Highway", IEEE Magazine on Intelligent Transportation Systems.
BibTeX:
@article{,
  author = {Cesari, Gianluca and Schildbach, Georg and Carvalho, Ashwin and Borrelli, Francesco},
  title = {Scenario Model Predictive Control for Lane Change Assistance and Autonomous Driving on Highway},
  journal = {IEEE Magazine on Intelligent Transportation Systems},
  year = {2017}
}
A. Carvalho A. Williams SL and Borrelli F (2016), "Autonomous cruise control with cut-in target vehicle detection", In 13th International Symposium on Advanced Vehicle Control, AVEC16., September, 2016.
BibTeX:
@inproceedings{A.Carvalho2016,
  author = {A. Carvalho, A. Williams, S. Lefevre, and F. Borrelli},
  title = {Autonomous cruise control with cut-in target vehicle detection},
  booktitle = {13th International Symposium on Advanced Vehicle Control, AVEC16},
  year = {2016}
}
J. Gonzales F. Zhang KL and Borrelli F (2016), "Autonomous Drifting with Onboard Sensors", In 13th International Symposium on Advanced Vehicle Control, AVEC16., September, 2016.
BibTeX:
@inproceedings{J.Gonzales2016,
  author = {J. Gonzales, F. Zhang, K. Li, and F. Borrelli},
  title = {Autonomous Drifting with Onboard Sensors},
  booktitle = {13th International Symposium on Advanced Vehicle Control, AVEC16},
  year = {2016}
}
Koehler S, Danielson C and Borrelli F (2016), "A primal-dual active-set method for distributed model predictive control", Optimal Control Applications and Methods. , pp. n/a-n/a.
BibTeX:
@article{Koehler2016,
  author = {Koehler, Sarah and Danielson, Claus and Borrelli, Francesco},
  title = {A primal-dual active-set method for distributed model predictive control},
  journal = {Optimal Control Applications and Methods},
  year = {2016},
  pages = {n/a--n/a},
  note = {oca.2262},
  url = {http://dx.doi.org/10.1002/oca.2262},
  doi = {10.1002/oca.2262}
}
Lefevre S, Carvalho A and Borrelli F (2016), "A Learning-Based Framework for Velocity Control in Autonomous Driving", IEEE Transactions on Automation Science and Engineering., Jan, 2016. Vol. 13(1), pp. 32-42.
BibTeX:
@article{Lefevre2016,
  author = {S. Lefevre and A. Carvalho and F. Borrelli},
  title = {A Learning-Based Framework for Velocity Control in Autonomous Driving},
  journal = {IEEE Transactions on Automation Science and Engineering},
  year = {2016},
  volume = {13},
  number = {1},
  pages = {32-42},
  doi = {10.1109/TASE.2015.2498192}
}
Maffei A, Iannelli L, Glielmo L and Borrelli F (2016), "Asynchronous cooperative method for distributed model predictive control", In Proc. IEEE 55th Conf. Decision and Control (CDC)., December, 2016. , pp. 6946-6951.
BibTeX:
@inproceedings{Maffei2016,
  author = {A. Maffei and L. Iannelli and L. Glielmo and F. Borrelli},
  title = {Asynchronous cooperative method for distributed model predictive control},
  booktitle = {Proc. IEEE 55th Conf. Decision and Control (CDC)},
  year = {2016},
  pages = {6946--6951},
  doi = {10.1109/CDC.2016.7799339}
}
Rosolia U and Borrelli F (2016), "Learning Model Predictive Control for iterative tasks. A Data-Driven Control Framework", ArXiv e-prints., September, 2016.
BibTeX:
@article{Rosolia2016a,
  author = {Rosolia, Ugo and Borrelli, Francesco},
  title = {Learning Model Predictive Control for iterative tasks. A Data-Driven Control Framework},
  journal = {ArXiv e-prints},
  year = {2016}
}
S. Koehler Mehr N, Horowitz R and Borrelli F (2016), "Stable Hybrid Model Predictive Control for Ramp Metering", In IEEE 19th International Conference on Intelligent Transportation Systems (ITSC 2016)., November, 2016.
BibTeX:
@inproceedings{S.Koehler2016,
  author = {S. Koehler, and N. Mehr and R. Horowitz and F. Borrelli},
  title = {Stable Hybrid Model Predictive Control for Ramp Metering},
  booktitle = {IEEE 19th International Conference on Intelligent Transportation Systems (ITSC 2016)},
  year = {2016}
}
Sarah K, Claus D and Francesco B (2016), "A primal-dual active-set method for distributed model predictive control", Optimal Control Applications and Methods. Vol. 38(3), pp. 399-419.
Abstract: Summary We present a novel distributed primal-dual active-set method for model predictive control. The primal-dual active-set method is used for solving model predictive control problems for large-scale systems with quadratic cost, linear dynamics, additive disturbance, and box constraints. The proposed algorithm is compared with dual decomposition and an alternating direction method of multipliers. Theoretical and experimental results show the effectiveness of the proposed approach for large-scale systems with communication delays. The application to building control systems is thoroughly investigated. Copyright © 2016 John Wiley & Sons, Ltd.
BibTeX:
@article{Sarah,
  author = {Koehler Sarah and Danielson Claus and Borrelli Francesco},
  title = {A primal-dual active-set method for distributed model predictive control},
  journal = {Optimal Control Applications and Methods},
  year = {2016},
  volume = {38},
  number = {3},
  pages = {399-419},
  url = {https://onlinelibrary.wiley.com/doi/abs/10.1002/oca.2262},
  doi = {10.1002/oca.2262}
}
Schildbach G and Borrelli F (2016), "A dynamic programming approach for nonholonomic vehicle maneuvering in tight environments", In 2016 IEEE Intelligent Vehicles Symposium (IV)., June, 2016. , pp. 151-156.
BibTeX:
@inproceedings{Schildbach2016,
  author = {G. Schildbach and F. Borrelli},
  title = {A dynamic programming approach for nonholonomic vehicle maneuvering in tight environments},
  booktitle = {2016 IEEE Intelligent Vehicles Symposium (IV)},
  year = {2016},
  pages = {151-156},
  doi = {10.1109/IVS.2016.7535379}
}
Schildbach G, Soppert M and Borrelli F (2016), "A collision avoidance system at intersections using Robust Model Predictive Control", In 2016 IEEE Intelligent Vehicles Symposium (IV)., June, 2016. , pp. 233-238.
BibTeX:
@inproceedings{Schildbach2016a,
  author = {G. Schildbach and M. Soppert and F. Borrelli},
  title = {A collision avoidance system at intersections using Robust Model Predictive Control},
  booktitle = {2016 IEEE Intelligent Vehicles Symposium (IV)},
  year = {2016},
  pages = {233-238},
  doi = {10.1109/IVS.2016.7535391}
}
Veksler A, Johansen TA, Borrelli F and Realfsen B (2016), "Dynamic Positioning With Model Predictive Control", IEEE Transactions on Control Systems Technology., July, 2016. Vol. 24(4), pp. 1340-1353.
BibTeX:
@article{Veksler2016,
  author = {A. Veksler and T. A. Johansen and F. Borrelli and B. Realfsen},
  title = {Dynamic Positioning With Model Predictive Control},
  journal = {IEEE Transactions on Control Systems Technology},
  year = {2016},
  volume = {24},
  number = {4},
  pages = {1340--1353},
  doi = {10.1109/TCST.2015.2497280}
}
Vichik S, Arcak M and Borrelli F (2016), "Stability of an analog optimization circuit for quadratic programming", Systems & Control Letters. Vol. 88, pp. 68-74. Elsevier.
BibTeX:
@article{Vichik2016,
  author = {Vichik, Sergey and Arcak, Murat and Borrelli, Francesco},
  title = {Stability of an analog optimization circuit for quadratic programming},
  journal = {Systems & Control Letters},
  publisher = {Elsevier},
  year = {2016},
  volume = {88},
  pages = {68--74}
}
Z. Ercan A. Carvalho SLFBHT and Gokasan M (2016), "Torque-Based Steering Assistance for Collision Avoidance During Lane Changes", In 13th International Symposium on Advanced Vehicle Control, AVEC16., September, 2016.
BibTeX:
@inproceedings{Z.Ercan2016,
  author = {Z. Ercan, A. Carvalho, S. Lefevre, F. Borrelli, H.E. Tseng, and M. Gokasan},
  title = {Torque-Based Steering Assistance for Collision Avoidance During Lane Changes},
  booktitle = {13th International Symposium on Advanced Vehicle Control, AVEC16},
  year = {2016}
}
Cairano SD and Borrelli F (2015), "Reference Tracking with Guaranteed Error Bound for Constrained Linear Systems", IEEE Transactions on Automatic Control. Vol. PP(99), pp. 1.
BibTeX:
@article{Cairano2015,
  author = {S. Di Cairano and F. Borrelli},
  title = {Reference Tracking with Guaranteed Error Bound for Constrained Linear Systems},
  journal = {IEEE Transactions on Automatic Control},
  year = {2015},
  volume = {PP},
  number = {99},
  pages = {1},
  doi = {10.1109/TAC.2015.2491738}
}
Carvalho A, Lefèvre S, Schildbach G, Kong J and Borrelli F (2015), "Automated Driving: The Role of Forecasts and Uncertainty - A Control Perspective", European Journal of Control., July, 2015. Vol. 24(0), pp. 14–32.
BibTeX:
@article{Carvalho2015,
  author = {Ashwin Carvalho and Stéphanie Lefèvre and Georg Schildbach and Jason Kong and Francesco Borrelli},
  title = {Automated Driving: The Role of Forecasts and Uncertainty - A Control Perspective},
  journal = {European Journal of Control},
  year = {2015},
  volume = {24},
  number = {0},
  pages = {14–32},
  url = {http://www.sciencedirect.com/science/article/pii/S094735801500062X},
  doi = {10.1016/j.ejcon.2015.04.007}
}
Danielson C and Borrelli F (2015), "Symmetric Linear Model Predictive Control", IEEE Transactions on Automatic Control. Vol. 60(5), pp. 1244-1259.
BibTeX:
@article{Danielson2015,
  author = {Danielson, C. and Borrelli, F.},
  title = {Symmetric Linear Model Predictive Control},
  journal = {IEEE Transactions on Automatic Control},
  year = {2015},
  volume = {60},
  number = {5},
  pages = {1244--1259},
  url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6963297},
  doi = {10.1109/TAC.2014.2373693}
}
Feng J(D, Chuang F, Borrelli F and Bauman F (2015), "Model predictive control of radiant slab systems with evaporative cooling sources", Energy and Buildings . Vol. 87(0), pp. 199 - 210.
BibTeX:
@article{Feng2015199,
  author = {Jingjuan (Dove) Feng and Frank Chuang and Francesco Borrelli and Fred Bauman},
  title = {Model predictive control of radiant slab systems with evaporative cooling sources},
  journal = {Energy and Buildings },
  year = {2015},
  volume = {87},
  number = {0},
  pages = {199 - 210},
  url = {http://www.sciencedirect.com/science/article/pii/S0378778814009682},
  doi = {10.1016/j.enbuild.2014.11.037}
}
Chuang F and Borrelli F (2015), "Dynamic State and Input Aggregation", In American Control Conference (ACC), 2015. , pp. 2900-2905.
BibTeX:
@inproceedings{FrankACC2015,
  author = {Frank Chuang and Francesco Borrelli},
  title = {Dynamic State and Input Aggregation},
  booktitle = {American Control Conference (ACC), 2015},
  year = {2015},
  pages = {2900--2905},
  url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6859196},
  doi = {10.1109/ACC.2014.6859196}
}
Hong S, Lee C, Borrelli F and Hedrick J (2015), "A Novel Approach for Vehicle Inertial Parameter Identification Using a Dual Kalman Filter", IEEE Transactions on Intelligent Transportation Systems. Vol. 16(1), pp. 151-161.
BibTeX:
@article{Hong2015,
  author = {Sanghyun Hong and Chankyu Lee and Borrelli, F. and Hedrick, J.K.},
  title = {A Novel Approach for Vehicle Inertial Parameter Identification Using a Dual Kalman Filter},
  journal = {IEEE Transactions on Intelligent Transportation Systems},
  year = {2015},
  volume = {16},
  number = {1},
  pages = {151--161},
  url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6846306},
  doi = {10.1109/TITS.2014.2329305}
}
Kong J, M. Pfeifer, Schildbach G and Borrelli F (2015), "Kinematic and Dynamic Vehicle Models for Autonomous Driving Control Design", In IEEE Intelligent Vehicles Symposium.
BibTeX:
@inproceedings{Kong2015,
  author = {J. Kong and M. Pfeifer,and G. Schildbach and F. Borrelli},
  title = {Kinematic and Dynamic Vehicle Models for Autonomous Driving Control Design},
  booktitle = {IEEE Intelligent Vehicles Symposium},
  year = {2015}
}
Lefèvre S, Carvalho A, Gao Y, Tseng HE and Borrelli F (2015), "Driver models for personalised driving assistance", Vehicle System Dynamics. Vol. 53(12), pp. 1705-1720. Taylor & Francis.
BibTeX:
@article{Lefevre2015,
  author = {Lefèvre, Stéphanie and Carvalho, Ashwin and Gao, Yiqi and Tseng, H Eric and Borrelli, Francesco},
  title = {Driver models for personalised driving assistance},
  journal = {Vehicle System Dynamics},
  publisher = {Taylor & Francis},
  year = {2015},
  volume = {53},
  number = {12},
  pages = {1705--1720}
}
Ma Y, Matusko J and Borrelli F (2015), "Stochastic Model Predictive Control for Building HVAC Systems: Complexity and Conservatism", IEEE Transactions on Control Systems Technology. Vol. 23(1), pp. 101-116.
BibTeX:
@article{Ma2015,
  author = {Yudong Ma and Matusko, J. and Borrelli, F.},
  title = {Stochastic Model Predictive Control for Building HVAC Systems: Complexity and Conservatism},
  journal = {IEEE Transactions on Control Systems Technology},
  year = {2015},
  volume = {23},
  number = {1},
  pages = {101--116},
  url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6802411},
  doi = {10.1109/TCST.2014.2313736}
}
Koehler S and Borrelli F (2015), "A Primal-Dual Active-Set Method for Distributed Model Predictive Control", In American Control Conference (ACC), 2015.
BibTeX:
@inproceedings{SarahACC2015,
  author = {Koehler, S. and Francesco Borrelli},
  title = {A Primal-Dual Active-Set Method for Distributed Model Predictive Control},
  booktitle = {American Control Conference (ACC), 2015},
  year = {2015},
  url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6859196},
  doi = {10.1109/ACC.2014.6859196}
}
Lefevre S, Carvalho A and Borrelli F (2015), "Autonomous Car Following: A Learning-Based Approach", In IEEE Intelligent Vehicles Symposium.
BibTeX:
@inproceedings{sss1,
  author = {S. Lefevre and A. Carvalho and F. Borrelli},
  title = {Autonomous Car Following: A Learning-Based Approach},
  booktitle = {IEEE Intelligent Vehicles Symposium},
  year = {2015}
}
Wyder T, Schildbach G, Lefevre S and Borrelli F (2015), "A Bayesian Filter for Modeling Traffic at Stop Intersections", In IEEE Intelligent Vehicles Symposium.
BibTeX:
@inproceedings{sss2,
  author = {T. Wyder and G. Schildbach and S. Lefevre and F. Borrelli},
  title = {A Bayesian Filter for Modeling Traffic at Stop Intersections},
  booktitle = {IEEE Intelligent Vehicles Symposium},
  year = {2015}
}
Schildbach G and Borrelli F (2015), "Scenario Model Predictive Control for Lane Change Assistance on Highways", In IEEE Intelligent Vehicles Symposium.
BibTeX:
@inproceedings{sss3,
  author = {Schildbach, G. and Francesco Borrelli},
  title = {Scenario Model Predictive Control for Lane Change Assistance on Highways},
  booktitle = {IEEE Intelligent Vehicles Symposium},
  year = {2015}
}
Bengea SC, Kelman AD, Borrelli F, Taylor R and Narayanan S (2014), "Implementation of model predictive control for an HVAC system in a mid-size commercial building", HVAC Research. Vol. 20(1), pp. 121-135.
BibTeX:
@article{Bengea2014,
  author = {Bengea, Sorin C. and Kelman, Anthony D. and Borrelli, Francesco and Taylor, Russell and Narayanan, Satish},
  title = {Implementation of model predictive control for an HVAC system in a mid-size commercial building},
  journal = {HVAC Research},
  year = {2014},
  volume = {20},
  number = {1},
  pages = {121-135},
  url = {

http://dx.doi.org/10.1080/10789669.2013.834781

}, doi = {10.1080/10789669.2013.834781} }
Carvalhoa A, Gaoa Y, Lefevrea S and Borrellia F (2014), "Stochastic Predictive Control of Autonomous Vehicles in Uncertain Environments", In Proceedings of the 2014 International Symposium on Advanced Vehicle Control.
BibTeX:
@inproceedings{Carvalhoa2014,
  author = {Carvalhoa, Ashwin and Gaoa, Yiqi and Lefevrea, Stéphanie and Borrellia, Francesco},
  title = {Stochastic Predictive Control of Autonomous Vehicles in Uncertain Environments},
  booktitle = {Proceedings of the 2014 International Symposium on Advanced Vehicle Control},
  year = {2014}
}
Chuang F, Danielson C and Borrelli F (2014), "Optimality of certainty equivalence in expected value problems for uncertain linear systems", In Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on. , pp. 2822-2827.
BibTeX:
@inproceedings{Chuang2014,
  author = {Chuang, F. and Danielson, C. and Borrelli, F.},
  title = {Optimality of certainty equivalence in expected value problems for uncertain linear systems},
  booktitle = {Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on},
  year = {2014},
  pages = {2822--2827},
  url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7039822},
  doi = {10.1109/CDC.2014.7039822}
}
Danielson C and Borrelli F (2014), "Identification of the symmetries of linear systems with polytopic constraints", In American Control Conference (ACC), 2014. , pp. 4218-4223.
BibTeX:
@inproceedings{Danielson2014a,
  author = {Danielson, C. and Borrelli, F.},
  title = {Identification of the symmetries of linear systems with polytopic constraints},
  booktitle = {American Control Conference (ACC), 2014},
  year = {2014},
  pages = {4218--4223},
  url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6859278},
  doi = {10.1109/ACC.2014.6859278}
}
Gao Y, Gray A, Tseng HE and Borrelli F (2014), "A tube-based robust nonlinear predictive control approach to semiautonomous ground vehicles", Vehicle System Dynamics. Vol. 52(6), pp. 802-823.
BibTeX:
@article{Gao2014,
  author = {Gao, Yiqi and Gray, Andrew and Tseng, H. Eric and Borrelli, Francesco},
  title = {A tube-based robust nonlinear predictive control approach to semiautonomous ground vehicles},
  journal = {Vehicle System Dynamics},
  year = {2014},
  volume = {52},
  number = {6},
  pages = {802-823},
  url = {

http://dx.doi.org/10.1080/00423114.2014.902537

}, doi = {10.1080/00423114.2014.902537} }
Gao Y, Gray A, Carvalho A, Tseng H and Borrelli F (2014), "Robust nonlinear predictive control for semiautonomous ground vehicles", In American Control Conference (ACC), 2014. , pp. 4913-4918.
BibTeX:
@inproceedings{Gao2014a,
  author = {Yiqi Gao and Gray, A. and Carvalho, A. and Tseng, H.E. and Borrelli, F.},
  title = {Robust nonlinear predictive control for semiautonomous ground vehicles},
  booktitle = {American Control Conference (ACC), 2014},
  year = {2014},
  pages = {4913--4918},
  url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6859253},
  doi = {10.1109/ACC.2014.6859253}
}
Kelman A, Kong J, Vichik S, Chiang K and Borrelli F (2014), "BLOM: The Berkeley Library for Optimization Modeling", In American Control Conference (ACC), 2014. , pp. 2900-2905.
BibTeX:
@inproceedings{Kelman2014,
  author = {Kelman, A. and Kong, J. and Vichik, S. and Chiang, K. and Borrelli, F.},
  title = {BLOM: The Berkeley Library for Optimization Modeling},
  booktitle = {American Control Conference (ACC), 2014},
  year = {2014},
  pages = {2900--2905},
  url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6859196},
  doi = {10.1109/ACC.2014.6859196}
}
Lefevre S, Gao Y, Vasquez D, Tseng HE, Bajcsy R and Borrelli F (2014), "Lane Keeping Assistance with Learning-Based Driver Model and Model Predictive Control", In 12th International Symposium on Advanced Vehicle Control.
BibTeX:
@inproceedings{Lefevre2014,
  author = {Lefevre, Stéphanie and Gao, Yiqi and Vasquez, Dizan and Tseng, H Eric and Bajcsy, Ruzena and Borrelli, Francesco},
  title = {Lane Keeping Assistance with Learning-Based Driver Model and Model Predictive Control},
  booktitle = {12th International Symposium on Advanced Vehicle Control},
  year = {2014}
}
Shia V, Gao Y, Vasudevan R, Campbell K, Lin T, Borrelli F and Bajcsy R (2014), "Semiautonomous Vehicular Control Using Driver Modeling", IEEE Transactions on Intelligent Transportation Systems. Vol. 15(6), pp. 2696-2709.
BibTeX:
@article{Shia2014,
  author = {Shia, V.A. and Yiqi Gao and Vasudevan, R. and Campbell, K.D. and Lin, T. and Borrelli, F. and Bajcsy, R.},
  title = {Semiautonomous Vehicular Control Using Driver Modeling},
  journal = {IEEE Transactions on Intelligent Transportation Systems},
  year = {2014},
  volume = {15},
  number = {6},
  pages = {2696--2709},
  url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6828752},
  doi = {10.1109/TITS.2014.2325776}
}
Veksler A, Johansen TA, Borrelli F and Realfsen B (2014), "Cartesian thrust allocation algorithm with variable direction thrusters, turn rate limits and singularity avoidance", In Proc. IEEE Conf. Control Applications (CCA)., October, 2014. , pp. 917-922.
BibTeX:
@inproceedings{Veksler2014a,
  author = {A. Veksler and T. A. Johansen and F. Borrelli and B. Realfsen},
  title = {Cartesian thrust allocation algorithm with variable direction thrusters, turn rate limits and singularity avoidance},
  booktitle = {Proc. IEEE Conf. Control Applications (CCA)},
  year = {2014},
  pages = {917--922},
  doi = {10.1109/CCA.2014.6981453}
}
Vichik S and Borrelli F (2014), "Solving linear and quadratic programs with an analog circuit ", Computers & Chemical Engineering . Vol. 70(0), pp. 160 - 171.
Abstract: Abstract We present the design of an analog circuit which solves linear programming (LP) or quadratic programming (QP) problem. In particular, the steady-state circuit voltages are the components of the LP\ (QP) optimal solution. The paper shows how to construct the circuit and provides a proof of equivalence between the circuit and the LP\ (QP) problem. The proposed method is used to implement an LP-based Model Predictive Controller by using an analog circuit. Simulative and experimental results show the effectiveness of the proposed approach.
BibTeX:
@article{Vichik2014,
  author = {Sergey Vichik and Francesco Borrelli},
  title = {Solving linear and quadratic programs with an analog circuit },
  journal = {Computers & Chemical Engineering },
  year = {2014},
  volume = {70},
  number = {0},
  pages = {160 - 171},
  note = {Manfred Morari Special Issue },
  url = {http://www.sciencedirect.com/science/article/pii/S0098135414000131},
  doi = {10.1016/j.compchemeng.2014.01.011}
}
Vichik S and Borrelli F (2014), "Fast solution of linear and Quadratic Programs with an analog circuit", In American Control Conference (ACC), 2014. , pp. 2954-2959.
BibTeX:
@inproceedings{Vichik2014a,
  author = {Vichik, S. and Borrelli, F.},
  title = {Fast solution of linear and Quadratic Programs with an analog circuit},
  booktitle = {American Control Conference (ACC), 2014},
  year = {2014},
  pages = {2954--2959},
  url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6859295},
  doi = {10.1109/ACC.2014.6859295}
}
A. Gray M. Ali YGJH and Borrelli F (2013), "A Unified Approach to Threat Assessment and Control for Automotive Active Safety", Intelligent Transportation Systems, IEEE Transactions on. Vol. 14(3), pp. 1490-1499.
BibTeX:
@article{6522881,
  author = {A. Gray, M. Ali, Y. Gao, J.K. Hedrick and F. Borrelli},
  title = {A Unified Approach to Threat Assessment and Control for Automotive Active Safety},
  journal = {Intelligent Transportation Systems, IEEE Transactions on},
  year = {2013},
  volume = {14},
  number = {3},
  pages = { 1490-1499}
}
Cairano SD and Borrelli F (2013), "Constrained tracking with guaranteed error bounds", In Proc. 52nd IEEE Conf. Decision and Control., December, 2013. , pp. 3800-3805.
BibTeX:
@inproceedings{Cairano2013,
  author = {S. Di Cairano and F. Borrelli},
  title = {Constrained tracking with guaranteed error bounds},
  booktitle = {Proc. 52nd IEEE Conf. Decision and Control},
  year = {2013},
  pages = {3800--3805},
  doi = {10.1109/CDC.2013.6760469}
}
Carvalho A, Palmieri G, Tseng H, Glielmo L and Borrelli F (2013), "Robust vehicle stability control with an uncertain driver model", In Control Conference (ECC), 2013 European. , pp. 440-445.
BibTeX:
@inproceedings{Carvalho2013,
  author = {Carvalho, A. and Palmieri, G. and Tseng, H.E. and Glielmo, L. and Borrelli, F.},
  title = {Robust vehicle stability control with an uncertain driver model},
  booktitle = {Control Conference (ECC), 2013 European},
  year = {2013},
  pages = {440--445},
  url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6669718}
}
Carvalho A, Gao Y, Gray A, Tseng H and Borrelli F (2013), "Predictive control of an autonomous ground vehicle using an iterative linearization approach", In Intelligent Transportation Systems - (ITSC), 2013 16th International IEEE Conference on. , pp. 2335-2340.
BibTeX:
@inproceedings{Carvalho2013a,
  author = {Carvalho, A. and Yiqi Gao and Gray, A. and Tseng, H.E. and Borrelli, F.},
  title = {Predictive control of an autonomous ground vehicle using an iterative linearization approach},
  booktitle = {Intelligent Transportation Systems - (ITSC), 2013 16th International IEEE Conference on},
  year = {2013},
  pages = {2335--2340},
  url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6728576},
  doi = {10.1109/ITSC.2013.6728576}
}
C. Danielson F. Borrelli DODA and Phillips T (2013), "Constrained Flow Control in Storage Networks: Capacity Maximization and Balancing", Automatica. Vol. -(-), pp. -.
BibTeX:
@article{DBA13,
  author = {C. Danielson, F. Borrelli, D. Oliver, D. Anderson and T. Phillips},
  title = {Constrained Flow Control in Storage Networks: Capacity Maximization and Balancing},
  journal = {Automatica},
  year = {2013},
  volume = {-},
  number = {-},
  pages = {-}
}
Gray A, Gao Y, Hedrick J and Borrelli F (2013), "Robust Predictive Control for semi-autonomous vehicles with an uncertain driver model", In Intelligent Vehicles Symposium (IV), 2013 IEEE. , pp. 208-213.
BibTeX:
@inproceedings{Gray2013,
  author = {Gray, A. and Yiqi Gao and Hedrick, J.K. and Borrelli, F.},
  title = {Robust Predictive Control for semi-autonomous vehicles with an uncertain driver model},
  booktitle = {Intelligent Vehicles Symposium (IV), 2013 IEEE},
  year = {2013},
  pages = {208--213},
  url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6629472},
  doi = {10.1109/IVS.2013.6629472}
}
Gray A, Gao Y, Lin T, Hedrick J and Borrelli F (2013), "Stochastic predictive control for semi-autonomous vehicles with an uncertain driver model", In Intelligent Transportation Systems - (ITSC), 2013 16th International IEEE Conference on. , pp. 2329-2334.
BibTeX:
@inproceedings{Gray2013a,
  author = {Gray, A. and Yiqi Gao and Lin, T. and Hedrick, J.K. and Borrelli, F.},
  title = {Stochastic predictive control for semi-autonomous vehicles with an uncertain driver model},
  booktitle = {Intelligent Transportation Systems - (ITSC), 2013 16th International IEEE Conference on},
  year = {2013},
  pages = {2329--2334},
  url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6728575},
  doi = {10.1109/ITSC.2013.6728575}
}
Gray A, Ali M, Gao Y, Hedrick J and Borrelli F (2013), "A Unified Approach to Threat Assessment and Control for Automotive Active Safety", IEEE Transactions on Intelligent Transportation Systems. Vol. 14(3), pp. 1490-1499.
BibTeX:
@article{Gray2013b,
  author = {Gray, A. and Ali, M. and Yiqi Gao and Hedrick, J.K. and Borrelli, F.},
  title = {A Unified Approach to Threat Assessment and Control for Automotive Active Safety},
  journal = {IEEE Transactions on Intelligent Transportation Systems},
  year = {2013},
  volume = {14},
  number = {3},
  pages = {1490--1499},
  url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6522881},
  doi = {10.1109/TITS.2013.2262097}
}
S. Hong G. Erdogan KH and Borrelli F (2013), "Tyre/road friction coefficient estimation based on tyre sensors and lateral tyre deflection: modelling, simulations and experiments", Vehicle System Dynamics. Vol. 51(5), pp. 627-647.
BibTeX:
@article{HEHB13,
  author = {S. Hong, G. Erdogan, K. Hedrick and F. Borrelli},
  title = {Tyre/road friction coefficient estimation based on tyre sensors and lateral tyre deflection: modelling, simulations and experiments},
  journal = {Vehicle System Dynamics},
  year = {2013},
  volume = {51},
  number = {5},
  pages = {627-647}
}
Hong S, Smith T, Borrelli F and Hedrick J (2013), "Vehicle inertial parameter identification using Extended and unscented Kalman Filters", In Intelligent Transportation Systems - (ITSC), 2013 16th International IEEE Conference on. , pp. 1436-1441.
BibTeX:
@inproceedings{Hong2013bb,
  author = {Sanghyun Hong and Smith, T. and Borrelli, F. and Hedrick, J.K.},
  title = {Vehicle inertial parameter identification using Extended and unscented Kalman Filters},
  booktitle = {Intelligent Transportation Systems - (ITSC), 2013 16th International IEEE Conference on},
  year = {2013},
  pages = {1436--1441},
  url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6728432},
  doi = {10.1109/ITSC.2013.6728432}
}
Koehler S and Borrelli F (2013), "Building temperature distributed control via explicit MPC and “Trim and Respond” methods", In Control Conference (ECC), 2013 European. , pp. 4334-4339.
BibTeX:
@inproceedings{Koehler2013,
  author = {Koehler, S. and Borrelli, F.},
  title = {Building temperature distributed control via explicit MPC and “Trim and Respond” methods},
  booktitle = {Control Conference (ECC), 2013 European},
  year = {2013},
  pages = {4334--4339},
  url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6669781}
}
Lin T, Tseng E and Borrelli F (2013), "Modeling driver behavior during complex maneuvers", In American Control Conference (ACC), 2013. , pp. 6448-6453.
BibTeX:
@inproceedings{Lin2013,
  author = {Lin, T. and Tseng, E. and Borrelli, F.},
  title = {Modeling driver behavior during complex maneuvers},
  booktitle = {American Control Conference (ACC), 2013},
  year = {2013},
  pages = {6448--6453},
  url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6580850},
  doi = {10.1109/ACC.2013.6580850}
}
Preindl M, Danielson C and Borrelli F (2013), "Performance evaluation of battery balancing hardware", In Control Conference (ECC), 2013 European. , pp. 4065-4070.
BibTeX:
@inproceedings{Preindl2013,
  author = {Preindl, M. and Danielson, C. and Borrelli, F.},
  title = {Performance evaluation of battery balancing hardware},
  booktitle = {Control Conference (ECC), 2013 European},
  year = {2013},
  pages = {4065--4070},
  url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6669307}
}
Turri V, Carvalho A, Tseng H, Johansson K and Borrelli F (2013), "Linear model predictive control for lane keeping and obstacle avoidance on low curvature roads", In Intelligent Transportation Systems - (ITSC), 2013 16th International IEEE Conference on. , pp. 378-383.
BibTeX:
@inproceedings{Turri2013,
  author = {Turri, V. and Carvalho, A. and Tseng, H.E. and Johansson, K.H. and Borrelli, F.},
  title = {Linear model predictive control for lane keeping and obstacle avoidance on low curvature roads},
  booktitle = {Intelligent Transportation Systems - (ITSC), 2013 16th International IEEE Conference on},
  year = {2013},
  pages = {378--383},
  url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6728261},
  doi = {10.1109/ITSC.2013.6728261}
}
Ma Y, Borrelli F, Hencey B, Coffey B, Bengea S and Haves P (2012), "Model Predictive Control for the Operation of Building Cooling Systems", Control Systems Technology, IEEE Transactions on., , 2012. (99), pp. 1-8.
BibTeX:
@article{5739562,
  author = {Y. Ma and F. Borrelli and B. Hencey and B. Coffey and S. Bengea and P. Haves},
  title = {Model Predictive Control for the Operation of Building Cooling Systems},
  journal = {Control Systems Technology, IEEE Transactions on},
  year = {2012},
  number = {99},
  pages = {1-8}
}
Gray A, Ali M, Gao Y, Hedrick J and Borrelli F (2012), "Semi-Autonomous Vehicle Control for Road Departure and Obstacle Avoidance", Proceedings of the IFAC Conference on Control of Transportation Systems.
BibTeX:
@inproceedings{A.Gray2012,
  author = {A. Gray, M. Ali, Y. Gao, J.K. Hedrick, F. Borrelli},
  title = {Semi-Autonomous Vehicle Control for Road Departure and Obstacle Avoidance},
  journal = {Proceedings of the IFAC Conference on Control of Transportation Systems},
  year = {2012}
}
Gray A, Ali M, Gao Y, Hedrick J and Borrelli F (2012), "Integrated Threat Assessment and Control Design for Roadway Departure Avoidance", Proceedings of the Intelligent Transportation Systems Conference.
BibTeX:
@inproceedings{A.Gray2012a,
  author = {A. Gray, M. Ali, Y. Gao, J.K. Hedrick, F. Borrelli},
  title = {Integrated Threat Assessment and Control Design for Roadway Departure Avoidance},
  journal = {Proceedings of the Intelligent Transportation Systems Conference},
  year = {2012}
}
Gray A, Gao Y, Lin T, Hedrick JK, Tseng E and Borrelli F (2012), "Predictive Control for Agile Semi-Autonomous Ground Vehicles using Motion Primitives", Proceedings of the American Control Conference (ACC).
BibTeX:
@inproceedings{A.Gray2012b,
  author = {A. Gray, Y. Gao, T. Lin, J. K. Hedrick, E. Tseng, F. Borrelli},
  title = {Predictive Control for Agile Semi-Autonomous Ground Vehicles using Motion Primitives},
  journal = {Proceedings of the American Control Conference (ACC)},
  year = {2012}
}
Baric M and Borrelli F (2012), "Decentralized Robust Control Invariance for a Network of Storage Devices", Automatic Control, IEEE Transactions on. Vol. 4(57), pp. 1018-1024.
BibTeX:
@article{BB11,
  author = {M. Baric and F. Borrelli},
  title = {Decentralized Robust Control Invariance for a Network of Storage Devices},
  journal = {Automatic Control, IEEE Transactions on},
  year = {2012},
  volume = {4},
  number = {57},
  pages = {1018-1024},
  doi = {10.1109/TAC.2011.2169629}
}
C. Danielson F. Borrelli DODAMK and Phillips T (2012), "Balancing of Battery Networks via Constrained Optimal Control", Proceedings of the American Control Conference (ACC).
BibTeX:
@inproceedings{C.Danielson2012,
  author = {C. Danielson, F. Borrelli, D. Oliver, D. Anderson, M. Kuang, and T. Phillips},
  title = {Balancing of Battery Networks via Constrained Optimal Control},
  journal = {Proceedings of the American Control Conference (ACC)},
  year = {2012}
}
Chuang F and Borrelli F (2012), "Sufficient Conditions for Complexity Reduction in Min-Max Control of Constrained Uncertain Linear Systems", Proceedings of the 51th IEEE Conference on Decision and Control Conference (CDC).
BibTeX:
@inproceedings{Chuang2012,
  author = {F. Chuang and F. Borrelli},
  title = {Sufficient Conditions for Complexity Reduction in Min-Max Control of Constrained Uncertain Linear Systems},
  journal = {Proceedings of the 51th IEEE Conference on Decision and Control Conference (CDC)},
  year = {2012}
}
Danielson C and Borrelli F (2012), "Symmetric Explicit Model Predictive Control", IFAC Conference on Nonlinear Model Predictive Control.
BibTeX:
@inproceedings{Danielson2012,
  author = {C. Danielson and F. Borrelli},
  title = {Symmetric Explicit Model Predictive Control},
  journal = {IFAC Conference on Nonlinear Model Predictive Control},
  year = {2012}
}
Kelman A and Borrelli F (2012), "Parallel Nonlinear Predictive Control", Proceedings of the 50th Allerton Conference on Communication, Control, and Computing.
BibTeX:
@inproceedings{Kelman2012,
  author = {A. Kelman and F. Borrelli},
  title = {Parallel Nonlinear Predictive Control},
  journal = {Proceedings of the 50th Allerton Conference on Communication, Control, and Computing},
  year = {2012}
}
Kelman A, Ma Y and Borrelli F (2012), "Analysis of Local Optima in Predictive Control for Energy Efficient Buildings", Journal of Building Performance Simulation. Vol. 1, pp. 99.
BibTeX:
@article{KMB12,
  author = {A. Kelman and Y. Ma and F. Borrelli},
  title = {Analysis of Local Optima in Predictive Control for Energy Efficient Buildings},
  journal = {Journal of Building Performance Simulation},
  year = {2012},
  volume = {1},
  pages = {99}
}
Matusko J and Borrelli F (2012), "Scenario-Based Approach to Stochastic Linear Predictive Control", Proceedings of the 51th IEEE Conference on Decision and Control Conference (CDC).
BibTeX:
@inproceedings{Matusko2012,
  author = {J. Matusko and F. Borrelli},
  title = {Scenario-Based Approach to Stochastic Linear Predictive Control},
  journal = {Proceedings of the 51th IEEE Conference on Decision and Control Conference (CDC)},
  year = {2012}
}
Ma Y, Kelman A, Daly A and Borrelli F (2012), "Predictive Control for Energy Efficient Buildings with Thermal Storage: Modeling, Simulation, and Experiments", Control Systems Magazine, IEEE., feb., 2012. Vol. 32(1), pp. 44 -64.
BibTeX:
@article{MKDB12,
  author = {Y. Ma and A. Kelman and A. Daly and F. Borrelli},
  title = {Predictive Control for Energy Efficient Buildings with Thermal Storage: Modeling, Simulation, and Experiments},
  journal = {Control Systems Magazine, IEEE},
  year = {2012},
  volume = {32},
  number = {1},
  pages = {44 -64}
}
Ma Y, Richter S and Borrelli F (2012), "Distributed Model Predictive Control for Building Temperature Regulation", In Control and Optimization with Differential-Algebraic Constraints. SIAM.
BibTeX:
@inproceedings{MRB12,
  author = {Y. Ma and S. Richter and F. Borrelli},
  editor = {Biegler, L. and Campbell, S.L. and Mehrmann, V.},
  title = {Distributed Model Predictive Control for Building Temperature Regulation},
  booktitle = {Control and Optimization with Differential-Algebraic Constraints},
  publisher = {SIAM},
  year = {2012}
}
R. Vasudevan V. Shia YGRC-NRB and Borrelli F (2012), "Safe Semi-Autonomous Control with Enhanced Driver Modeling", Proceedings of the American Control Conference (ACC).
BibTeX:
@inproceedings{R.Vasudevan2012,
  author = {R. Vasudevan, V. Shia, Y. Gao, R. Cervera-Navarro, R. Bajcsy and F. Borrelli},
  title = {Safe Semi-Autonomous Control with Enhanced Driver Modeling},
  journal = {Proceedings of the American Control Conference (ACC)},
  year = {2012}
}
Gao Y, Gray A, Frasch JV, Lin T, Tseng E, Hedrick JK and Borrelli F (2012), "Spatial Predictive Control for Agile Semi-Autonomous Ground Vehicles", Proceedings of the 2012 International Symposium on Advanced Vehicle Control.
BibTeX:
@inproceedings{Y.Gao2012,
  author = {Y. Gao, A. Gray, J. V. Frasch, T. Lin, E. Tseng, J. K. Hedrick, F. Borrelli},
  title = {Spatial Predictive Control for Agile Semi-Autonomous Ground Vehicles},
  journal = {Proceedings of the 2012 International Symposium on Advanced Vehicle Control},
  year = {2012}
}
Y. Ma SV and Borrelli F (2012), "Fast Stochastic MPC with Optimal Risk Allocation Applied to Building Control Systems", Proceedings of the 51th IEEE Conference on Decision and Control Conference (CDC).
BibTeX:
@inproceedings{Y.Ma2012,
  author = {Y. Ma, S. Vichik and F. Borrelli},
  title = {Fast Stochastic MPC with Optimal Risk Allocation Applied to Building Control Systems},
  journal = {Proceedings of the 51th IEEE Conference on Decision and Control Conference (CDC)},
  year = {2012}
}
Yudong M, Anderson G and Borrelli F (2011), "A distributed predictive control approach to building temperature regulation", American Control Conference (ACC), 2011., 29 2011-july 1, 2011. , pp. 2089 -2094.
BibTeX:
@inproceedings{5991549,
  author = {M. Yudong and G. Anderson and F. Borrelli},
  title = {A distributed predictive control approach to building temperature regulation},
  journal = {American Control Conference (ACC), 2011},
  year = {2011},
  pages = {2089 -2094}
}
Kelman A, Ma Y and Borrelli F (2011), "Analysis of local optima in predictive control for energy efficient buildings", Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on., dec., 2011. , pp. 5125 -5130.
BibTeX:
@inproceedings{6161498,
  author = {A. Kelman and Y. Ma and F. Borrelli},
  title = {Analysis of local optima in predictive control for energy efficient buildings},
  journal = {Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on},
  year = {2011},
  pages = {5125 -5130},
  doi = {10.1109/CDC.2011.6161498}
}
Baric M and Borrelli F (2011), "Distributed Averaging with Flow Constraints", American Control Conference (ACC), 2011., , 2011. Vol. PP(99), pp. 1.
BibTeX:
@inproceedings{Baric2011,
  author = {M. Baric and F. Borrelli},
  title = {Distributed Averaging with Flow Constraints},
  journal = {American Control Conference (ACC), 2011},
  year = {2011},
  volume = {PP},
  number = {99},
  pages = {1},
  doi = {10.1109/TAC.2011.2169629}
}
Kelman A and Borrelli F (2011), "Bilinear Model Predictive Control of a HVAC System Using Sequential Quadratic Programming", Proceedings of the 2011 IFAC workd Congress., August, 2011.
BibTeX:
@inproceedings{KBIFAC2011,
  author = {A. Kelman and F. Borrelli},
  title = {Bilinear Model Predictive Control of a HVAC System Using Sequential Quadratic Programming},
  journal = {Proceedings of the 2011 IFAC workd Congress},
  year = {2011}
}
Palmieri G, M.Baric, Glielmo L, H.Tseng and Borrelli F (2011), "Robust vehicle lateral stabilization via set-based methods for uncertain piecewise affine systems: Experimental results", Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on., dec., 2011. , pp. 3252 -3257.
BibTeX:
@inproceedings{Palmieri2011,
  author = {G. Palmieri and M.Baric and L. Glielmo and H.Tseng and F. Borrelli},
  title = {Robust vehicle lateral stabilization via set-based methods for uncertain piecewise affine systems: Experimental results},
  journal = {Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on},
  year = {2011},
  pages = {3252 -3257}
}
Palmieri G, M.Baric, Glielmo L and Borrelli F (2011), "Robust Vehicle Lateral Stabilization via Set-Based Methods for Uncertain Piecewise Affine Systems", Proceedings of the 2011 IFAC workd Congress., August, 2011.
BibTeX:
@inproceedings{PBGB2011,
  author = {G. Palmieri and M.Baric and L. Glielmo and F. Borrelli},
  title = {Robust Vehicle Lateral Stabilization via Set-Based Methods for Uncertain Piecewise Affine Systems},
  journal = {Proceedings of the 2011 IFAC workd Congress},
  year = {2011}
}
T. Kelman YM and Borrelli F (2011), "Analysis of local optima in predictive control for energy efficient buildings", Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on., dec., 2011. , pp. 3252 -3257.
BibTeX:
@inproceedings{T.Kelman2011,
  author = {T. Kelman, Y. Ma and F. Borrelli},
  title = {Analysis of local optima in predictive control for energy efficient buildings},
  journal = {Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on},
  year = {2011},
  pages = {3252 -3257}
}
Ma Y, Borrelli F, Hencey B, Coffey B, Bengea S and Haves P (2010), "Model predictive control for the operation of building cooling systems", American Control Conference (ACC), 2010., 30 2010-july 2, 2010. , pp. 5106 -5111.
BibTeX:
@inproceedings{5530468,
  author = {Yudong Ma and F. Borrelli and B. Hencey and B. Coffey and S. Bengea and P. Haves},
  title = {Model predictive control for the operation of building cooling systems},
  journal = {American Control Conference (ACC), 2010},
  year = {2010},
  pages = {5106 -5111}
}
Baric M and Borrelli F (2010), "Decentralized robust control invariance for a network of integrators", American Control Conference (ACC), 2010., 30 2010-july 2, 2010. , pp. 3939 -3944.
BibTeX:
@inproceedings{5530641,
  author = {M. Baric and F. Borrelli},
  title = {Decentralized robust control invariance for a network of integrators},
  journal = {American Control Conference (ACC), 2010},
  year = {2010},
  pages = {3939 -3944}
}
Borrelli F, Baotic M, Pekar J and Stewart G (2010), "On the computation of linear model predictive control laws", Automatica. Vol. 46(6), pp. 1035-1041.
BibTeX:
@article{BBPS10,
  author = {F. Borrelli and M. Baotic and J. Pekar and G. Stewart},
  title = {On the computation of linear model predictive control laws},
  journal = {Automatica},
  year = {2010},
  volume = {46},
  number = {6},
  pages = {1035--1041}
}
Erdogan G, Borrelli F, Tebano R, Audisio G, Lori G and Sannazzaro J (2010), "Development Of A New Lateral Stability Control System Enhanced With Accelerometer Based Tire Sensors", ASME Conference Proceedings, Dynamic Systems and Control Conference, Cambridge, MA., September, 2010.
BibTeX:
@inproceedings{EBTA10,
  author = {G. Erdogan and F. Borrelli and R. Tebano and G. Audisio and G. Lori and J. Sannazzaro},
  title = {Development Of A New Lateral Stability Control System Enhanced With Accelerometer Based Tire Sensors},
  journal = {ASME Conference Proceedings, Dynamic Systems and Control Conference, Cambridge, MA},
  year = {2010}
}
Falcone P, Borrelli F, Tseng E and Hrovat D (2010), "On Low Complexity Predictive Approaches to Control of Autonomous Vehicles", In Automotive Model Predictive Control. Vol. 402, pp. 211-230. Springer Berlin / Heidelberg.
BibTeX:
@inproceedings{Falcone2010,
  author = {P. Falcone and F. Borrelli and E. Tseng and D. Hrovat},
  editor = {del Re, Luigi and Allgower, Frank and Glielmo, Luigi and Guardiola, Carlos and Kolmanovsky, Ilya},
  title = {On Low Complexity Predictive Approaches to Control of Autonomous Vehicles},
  booktitle = {Automotive Model Predictive Control},
  publisher = {Springer Berlin / Heidelberg},
  year = {2010},
  volume = {402},
  pages = {211-230}
}
Falcone P, Borrelli F, Tseng HE, Asgari J and Hrovat D (2010), "Experimental Validation of Nonlinear Predictive Algorithms for Steering and Braking Coordination in Limit Handling Maneuvers", 10th International Symposium on Advanced Vehicle Control (AVEC '10)., August, 2010.
BibTeX:
@inproceedings{FBTAH10,
  author = {P. Falcone and F. Borrelli and H. E. Tseng and J. Asgari and D. Hrovat},
  title = {Experimental Validation of Nonlinear Predictive Algorithms for Steering and Braking Coordination in Limit Handling Maneuvers},
  journal = {10th International Symposium on Advanced Vehicle Control (AVEC '10)},
  year = {2010}
}
Gao Y, Lin T, Borrelli F, Tseng E and Hrovat D (2010), "Predictive Control Of Autonomous Ground Vehicles With Obstacle Avoidance On Slippery Roads", ASME Conference Proceedings, Dynamic Systems and Control Conference, Cambridge, MA., September, 2010.
BibTeX:
@inproceedings{GLB10,
  author = {Y. Gao and T. Lin and F. Borrelli and E. Tseng and D. Hrovat},
  title = {Predictive Control Of Autonomous Ground Vehicles With Obstacle Avoidance On Slippery Roads},
  journal = {ASME Conference Proceedings, Dynamic Systems and Control Conference, Cambridge, MA},
  year = {2010}
}
Palmieri G, M.Baric and Borrelli F (2010), "Constrained Robust Design of Lateral Vehicle Dynamics Control Systems", 10th International Symposium on Advanced Vehicle Control (AVEC '10)., August, 2010.
BibTeX:
@inproceedings{PBB10,
  author = {G. Palmieri and M.Baric and F. Borrelli},
  title = {Constrained Robust Design of Lateral Vehicle Dynamics Control Systems},
  journal = {10th International Symposium on Advanced Vehicle Control (AVEC '10)},
  year = {2010}
}
Stewart G, Borrelli F, Germann JPD, Pachner D and Kihas D (2010), "Toward a Systematic Design for Turbocharged Engine Control", In Automotive Model Predictive Control. Vol. 402, pp. 211-230. Springer Berlin / Heidelberg.
BibTeX:
@inproceedings{Stewart2010,
  author = {G. Stewart and F. Borrelli and J. Pekarand D. Germann and D. Pachner and D. Kihas},
  editor = {del Re, Luigi and Allgöwer, Frank and Glielmo, Luigi and Guardiola, Carlos and Kolmanovsky, Ilya},
  title = {Toward a Systematic Design for Turbocharged Engine Control},
  booktitle = {Automotive Model Predictive Control},
  publisher = {Springer Berlin / Heidelberg},
  year = {2010},
  volume = {402},
  pages = {211-230}
}
Khout N, Borrelli F and Hedrick K (2009), "Integrating Traffic Data and Model Predictive Control to Improve Fuel Economy", 12th IFAC Symposium on Control in Transportation Systems. Redondo Beach, California., Semptember, 2009.
BibTeX:
@inproceedings{20093,
  author = {N. Khout and F. Borrelli and K. Hedrick},
  title = {Integrating Traffic Data and Model Predictive Control to Improve Fuel Economy},
  journal = {12th IFAC Symposium on Control in Transportation Systems. Redondo Beach, California},
  year = {2009}
}
Falcone P, Borrelli F, Pekar J and Stewart G (2009), "Reference Governor for Constrained Piecewise Affine Systems", The European Control Conference 2009, Budapest, Hungary., August, 2009.
BibTeX:
@inproceedings{20094,
  author = {P. Falcone and F. Borrelli and J. Pekar and G. Stewart},
  title = {Reference Governor for Constrained Piecewise Affine Systems},
  journal = {The European Control Conference 2009, Budapest, Hungary},
  year = {2009}
}
Ma Y, Borrelli F, Hencey B, Packard A and Bortoff S (2009), "Model Predictive Control of Thermal Energy Storage in Building Cooling Systems", Decision and Control, 2009 48th IEEE Conference on., December, 2009.
BibTeX:
@inproceedings{20096,
  author = {Y. Ma and F. Borrelli and B. Hencey and A. Packard and S. Bortoff},
  title = {Model Predictive Control of Thermal Energy Storage in Building Cooling Systems},
  journal = {Decision and Control, 2009 48th IEEE Conference on},
  year = {2009}
}
Bageshwar V and Borrelli F (2009), "On a Property of a Class of Offset-Free Model Predictive Controllers", IEEE Transaction on Automatic Control. Vol. 54/3, pp. 663-669.
BibTeX:
@article{BB09,
  author = {V. Bageshwar and F. Borrelli},
  title = {On a Property of a Class of Offset-Free Model Predictive Controllers},
  journal = {IEEE Transaction on Automatic Control},
  year = {2009},
  volume = {54/3},
  pages = {663-669}
}
Borrelli F, Falcone P, Pekar J and Stewart G (2009), "Reference Governor for Constrained Piecewise Affine Systems", Journal of Process Control., July, 2009. Vol. 19(8), pp. 1229-1237.
BibTeX:
@article{BFPS09,
  author = {F. Borrelli and P. Falcone and J. Pekar and G. Stewart},
  title = {Reference Governor for Constrained Piecewise Affine Systems},
  journal = {Journal of Process Control},
  year = {2009},
  volume = {19},
  number = {8},
  pages = {1229--1237},
  note = {Special Section on Hybrid Systems: Modeling, Simulation and Optimization}
}
Borrelli F, Baotic M, Pekar J and Stewart G (2009), "On the Complexity of Explicit MPC Laws", The European Control Conference 2009, Budapest, Hungary., August, 2009.
BibTeX:
@inproceedings{Borrelli2009,
  author = {F. Borrelli and M. Baotic and J. Pekar and G. Stewart},
  title = {On the Complexity of Explicit MPC Laws},
  journal = {The European Control Conference 2009, Budapest, Hungary},
  year = {2009}
}
Borrelli F, Vecchio CD and Parisio A (2009), "Robust Invariant Sets for Constrained Storage Systems", Automatica. Vol. 45(12), pp. 2930-2936.
BibTeX:
@article{BVP09,
  author = {F. Borrelli and C. Del Vecchio and A. Parisio},
  title = {Robust Invariant Sets for Constrained Storage Systems},
  journal = {Automatica},
  year = {2009},
  volume = {45},
  number = {12},
  pages = {2930-2936}
}
F.Borrelli, Pekar J, Baotic M and Stewart G (2009), "On the Computation of Linear Model Predictive Control Laws", Decision and Control, 2009 48th IEEE Conference on., December, 2009.
BibTeX:
@inproceedings{F.Borrelli2009,
  author = {F.Borrelli and J. Pekar and M. Baotic and G. Stewart},
  title = {On the Computation of Linear Model Predictive Control Laws},
  journal = {Decision and Control, 2009 48th IEEE Conference on},
  year = {2009}
}
Maeder U, Borrelli F and Morari M (2009), "Linear Offset Free Model Predictive Control", Automatica. Vol. 45(10), pp. 2214 -2222.
BibTeX:
@article{MBM09,
  author = {U. Maeder and F. Borrelli and M. Morari},
  title = {Linear Offset Free Model Predictive Control},
  journal = {Automatica},
  year = {2009},
  volume = {45},
  number = {10},
  pages = {2214 --2222}
}
Falcone P, Borrelli F, Tseng EH, Asgari J and Davor H (2008), "Low Complexity MPC Schemes for Integrated Vehicle Dynamics Control Problems", 9th International Symposium on Advanced Vehicle Control (AVEC '08)., August, 2008.
BibTeX:
@inproceedings{20091,
  author = {P. Falcone and F. Borrelli and E. H. Tseng and J. Asgari and H. Davor},
  title = {Low Complexity MPC Schemes for Integrated Vehicle Dynamics Control Problems},
  journal = {9th International Symposium on Advanced Vehicle Control (AVEC '08)},
  year = {2008}
}
Khout N, Borrelli F and Hedrick K (2008), "Utilization Of Intelligent Transport Systems Information To Increase Fuel Economy Through Engine Control", 15th World Congress on ITS., November, 2008.
BibTeX:
@inproceedings{20092,
  author = {N. Khout and F. Borrelli and K. Hedrick},
  title = {Utilization Of Intelligent Transport Systems Information To Increase Fuel Economy Through Engine Control},
  journal = {15th World Congress on ITS},
  year = {2008}
}
Keviczky T, Borrelli F, Fregene K, Godbole D and Balas GJ (2008), "Decentralized Receding Horizon Control and Coordination of Autonomous Vehicle Formations", Control Systems Technology, IEEE Transactions on., January, 2008. Vol. 16(1), pp. 19-33.
BibTeX:
@article{4389042,
  author = {T. Keviczky and F. Borrelli and K. Fregene and D. Godbole and G. J. Balas},
  title = {Decentralized Receding Horizon Control and Coordination of Autonomous Vehicle Formations},
  journal = {Control Systems Technology, IEEE Transactions on},
  year = {2008},
  volume = {16},
  number = {1},
  pages = {19-33}
}
Avni O, Borrelli F, Katzir G, Rivlin E and Rotstein H (2008), "Scanning the Environment with Two Independent Cameras - Biologically Motivated Approach", Autonomus Robots. Vol. 24(3), pp. 285-302.
BibTeX:
@article{ABKRR08,
  author = {O. Avni and F. Borrelli and G. Katzir and E. Rivlin and H. Rotstein},
  title = {Scanning the Environment with Two Independent Cameras - Biologically Motivated Approach},
  journal = {Autonomus Robots},
  year = {2008},
  volume = {24},
  number = {3},
  pages = {285-302}
}
Vibhor B and Borrelli F (2008), "On a Property of a Class of Offset-Free Model Predictive Controllers", American Control Conference, 2008., June, 2008.
BibTeX:
@inproceedings{BB08,
  author = {B. Vibhor and F. Borrelli},
  title = {On a Property of a Class of Offset-Free Model Predictive Controllers},
  journal = {American Control Conference, 2008},
  year = {2008}
}
Baotic M, Borrelli F, Bemporad A and Morari M (2008), "Efficient On-Line Computation of Constrained Optimal Control", SIAM Journal on Control and Optimization., September, 2008. Vol. 5, pp. 2470-2489.
BibTeX:
@article{BBBM08,
  author = {M. Baotic and F. Borrelli and A. Bemporad and M. Morari},
  title = {Efficient On-Line Computation of Constrained Optimal Control},
  journal = {SIAM Journal on Control and Optimization},
  year = {2008},
  volume = {5},
  pages = {2470-2489}
}
Borrelli F and Keviczky T (2008), "Distributed LQR Design for Identical Dynamically Decoupled Systems", IEEE Transaction on Automatic Control. Vol. 53, pp. 862-875.
BibTeX:
@article{BT08,
  author = {F. Borrelli and T. Keviczky},
  title = {Distributed LQR Design for Identical Dynamically Decoupled Systems},
  journal = {IEEE Transaction on Automatic Control},
  year = {2008},
  volume = {53},
  pages = {862-875}
}
Falcone P, Borrelli F, Tseng HE, Asgari J and Hrovat D (2008), "A Hierarchical Model Predictive Control Framework for Autonomous Vehicles", American Control Conference, 2008., June, 2008.
BibTeX:
@inproceedings{FBTAHACC08,
  author = {P. Falcone and F. Borrelli and H. E. Tseng and J. Asgari and D. Hrovat},
  title = {A Hierarchical Model Predictive Control Framework for Autonomous Vehicles},
  journal = {American Control Conference, 2008},
  year = {2008}
}
Falcone P, Borrelli F, Tseng HE, Asgari J and Hrovat D (2008), "Linear Time Varying Model Predictive Control and its Application to Active Steering Systems: Stability Analisys and Experimental Validation", International Journal of Robust and Nonlinear Control., March, 2008. Vol. 18(8), pp. 862-875.
BibTeX:
@article{IJRNC06,
  author = {P. Falcone and F. Borrelli and H. E. Tseng and J. Asgari and D. Hrovat},
  title = {Linear Time Varying Model Predictive Control and its Application to Active Steering Systems: Stability Analisys and Experimental Validation},
  journal = {International Journal of Robust and Nonlinear Control},
  year = {2008},
  volume = {18},
  number = {8},
  pages = {862-875}
}
Stewart G and Borrelli F (2008), "A Model Predictive Control Framework for Industrial Turbodiesel Engine Control", Decision and Control, 2008 47th IEEE Conference on.
Abstract: This article describes the development and implementation
of a practical explicit model predictive control
(MPC) approach that allows subcontrollers to receive and accommodate
time-varying setpoints and constraints from higher
levels in standard industrial automotive controller hierarchies.
The MPC approach requires a small computational footprint
that is suitable for implementation within a modern electronic
control unit (ECU). This article presents the approach, method
of implementation, and preliminary results on a 2.2 litre
turbodiesel engine.
BibTeX:
@inproceedings{SB08,
  author = {G. Stewart and F. Borrelli},
  title = {A Model Predictive Control Framework for Industrial Turbodiesel Engine Control},
  journal = {Decision and Control, 2008 47th IEEE Conference on},
  year = {2008}
}
Falcone P, Asgari FBJ, Tseng HE and Hrovat D (2007), "Predictive Active Steering Control for Autonomous Vehicle Systems", IEEE Transactions on Control Systems Technology., May, 2007. Vol. 15(3), pp. 566-580.
BibTeX:
@article{4162483,
  author = {P. Falcone and F. Borrelli J. Asgari and H. E. Tseng and D. Hrovat},
  title = {Predictive Active Steering Control for Autonomous Vehicle Systems},
  journal = {IEEE Transactions on Control Systems Technology},
  year = {2007},
  volume = {15},
  number = {3},
  pages = {566-580}
}
Falcone P, Tufo M, Borrelli F, Asgariand J and Tseng HE (2007), "A linear time varying model predictive control approach to the integrated vehicle dynamics control problem in autonomous systems", Decision and Control, 2007 46th IEEE Conference on. , pp. 2980-2985.
Abstract: A Model Predictive Control (MPC) approach for controlling active front steering, active braking and active differentials in an autonomous vehicle is presented. We formulate a predictive control problem in order to best follow a given path by controlling the front steering angle, brakes and traction at the four wheels independently, while fulfilling various physical and design constraints. At each time step a trajectory is assumed to be known over a finite horizon, and an MPC controller computes the system inputs in order to best follow the desired trajectory on slippery roads at a given entry speed. We start from the results presented in [1], [2] and formulate the MPC problem based on successive on-line linearization of the nonlinear vehicle model (LTV MPC). Simulative results are presented, interpreted and compared against LTV MPC schemes which make use only of steering and/or braking.
BibTeX:
@inproceedings{4434137,
  author = {P. Falcone and M. Tufo and F. Borrelli and J. Asgariand and H. E. Tseng},
  title = {A linear time varying model predictive control approach to the integrated vehicle dynamics control problem in autonomous systems},
  journal = {Decision and Control, 2007 46th IEEE Conference on},
  year = {2007},
  pages = {2980-2985}
}
Borrelli F and Morari M (2007), "Offset free model predictive control", Decision and Control, 2007 46th IEEE Conference on. , pp. 1245-1250.
Abstract: This work addresses the problem of offset-free Model Predictive Control (MPC) when tracking a constant reference. It builds on the work in [1], [2] and summarizes in a compact and intuitive manner the conditions that need to be satisfied to obtain offset-free MPC by using the arguments of the internal model principle
BibTeX:
@inproceedings{4434770,
  author = {F. Borrelli and M. Morari},
  title = {Offset free model predictive control},
  journal = {Decision and Control, 2007 46th IEEE Conference on},
  year = {2007},
  pages = {1245-1250}
}
Falcone P, Borrelli F, Tseng HE, Asgari J and Hrovat D (2007), "Integrated Braking and Steering Model Predictive Control Approach in Autonomous Vehicles", Fifth IFAC Symposium on Advances of Automotive Control. Monterey Coast, California, USA
BibTeX:
@inproceedings{AAC07,
  author = {P. Falcone and F. Borrelli and H. E. Tseng and J. Asgari and D. Hrovat},
  title = {Integrated Braking and Steering Model Predictive Control Approach in Autonomous Vehicles},
  journal = {Fifth IFAC Symposium on Advances of Automotive Control},
  year = {2007}
}
Borrelli F, Falcone P and del Vecchio C (2007), "Event-based receding horizon control for two-stage multi-product production plants", Control Engineering Practice., December, 2007. Vol. 15(12), pp. 1556-1568.
BibTeX:
@article{BFV07,
  author = {F. Borrelli and P. Falcone and C. del Vecchio},
  title = {Event-based receding horizon control for two-stage multi-product production plants},
  journal = {Control Engineering Practice},
  year = {2007},
  volume = {15},
  number = {12},
  pages = {1556-1568}
}
Keviczky T, Borrelli F and Balas GJ (2007), "Distributed Predictive Control: Synthesis, Stability and Feasibility", In Cooperative Control of Distributed Multi-Agent Systems. , pp. 79-108. John Wiley & Sons, Ltd.
BibTeX:
@inproceedings{KBB07,
  author = {T. Keviczky and F. Borrelli and G. J. Balas},
  editor = {Jeff S. Shamma},
  title = {Distributed Predictive Control: Synthesis, Stability and Feasibility},
  booktitle = {Cooperative Control of Distributed Multi-Agent Systems},
  publisher = {John Wiley & Sons, Ltd},
  year = {2007},
  pages = {79--108}
}
Falcone P, Borrelli F, Asgari J, Tseng HE and Hrovat D (2007), "A Model Predictive Control Approach for Combined Braking and Steering in Autonomous Vehicles", 15th Mediterranean Conference on Control and Automation. Athens, Greece
BibTeX:
@inproceedings{Med07,
  author = {P. Falcone and F. Borrelli and J. Asgari and H. E. Tseng and D. Hrovat},
  title = {A Model Predictive Control Approach for Combined Braking and Steering in Autonomous Vehicles},
  journal = {15th Mediterranean Conference on Control and Automation},
  year = {2007}
}
Borrelli F, Falcone P and Vecchio CD (2006), "Event-Based Receding Horizon Control for Two-Stages Multi-Product Production Plants", American Control Conference, 2006., June, 2006. , pp. 562-567.
BibTeX:
@inproceedings{1655416,
  author = {F. Borrelli and P. Falcone and C. Del Vecchio},
  title = {Event-Based Receding Horizon Control for Two-Stages Multi-Product Production Plants},
  journal = {American Control Conference, 2006},
  year = {2006},
  pages = {562-567}
}
Keviczky T, Fregene K, Borrelli F, Balas G and Godbole D (2006), "Coordinated autonomous vehicle formations: decentralization, control synthesis and optimization", American Control Conference, 2006., June, 2006.
Abstract: This paper describes a novel methodology for high-level control and coordination of autonomous vehicle formations and its demonstration on high fidelity models of the organic air vehicle developed at Honeywell Laboratories. The scheme employs decentralized receding horizon controllers that reside on each vehicle to achieve coordination among team members. An appropriate graph structure describes the underlying communication topology between the vehicles. On each vehicle, information about neighbors is used to predict their behavior so that conflict-free trajectories that maintain coordination and achieve team objectives result. When feasibility of the decentralized control is lost, collision avoidance is ensured by invoking emergency maneuvers that are computed via invariant set theory.
BibTeX:
@inproceedings{1656517,
  author = {T. Keviczky and K. Fregene and F. Borrelli and G.J. Balas and D. Godbole},
  title = {Coordinated autonomous vehicle formations: decentralization, control synthesis and optimization},
  journal = {American Control Conference, 2006},
  year = {2006}
}
Keviczky T, Vanek B, Borrelli F and Balas GJ (2006), "Hybrid decentralized receding horizon control of vehicle formations", American Control Conference, 2006., June, 2006.
Abstract: A hybrid rule-based extension of a recently proposed decentralized receding horizon control (RHC) scheme is presented for vehicle formation control. The scheme makes use of logic rules which improve stability and feasibility of the decentralized method by enforcing coordination. The decentralized control laws which respect the rules are computed using hybrid control design techniques. The basic ideas are illustrated on a two-vehicle formation flight example. A more complex simulation involving six vehicles is shown as well to demonstrate the potential benefits of using rules for coordination within the RHC scheme.
BibTeX:
@inproceedings{1657237,
  author = {T. Keviczky and B. Vanek and F. Borrelli and G. J. Balas},
  title = {Hybrid decentralized receding horizon control of vehicle formations},
  journal = {American Control Conference, 2006},
  year = {2006}
}
Keviczky T, Falcone P, Borrelli F, Asgari J and Hrovat D (2006), "Predictive control approach to autonomous vehicle steering", American Control Conference, 2006., June, 2006.
Abstract: A model predictive control (MPC) approach to active steering is presented for autonomous vehicle systems. The controller is designed to stabilize a vehicle along a desired path while rejecting wind gusts and fulfilling its physical constraints. Simulation results of a side wind rejection scenario and a double lane change maneuver on slippery surfaces show the benefits of the systematic control methodology used. A trade-off between the vehicle speed and the required preview on the desired path for vehicle stabilization is highlighted.
BibTeX:
@inproceedings{1657458,
  author = {T. Keviczky and P. Falcone and F. Borrelli and J. Asgari and D. Hrovat},
  title = {Predictive control approach to autonomous vehicle steering},
  journal = {American Control Conference, 2006},
  year = {2006}
}
Borrelli F, Subramanian D, Raghunathan A and Biegler L (2006), "MILP and NLP Techniques for centralized trajectory planning of multiple unmanned air vehicles", American Control Conference, 2006., June, 2006.
Abstract: We consider the problem of optimal cooperative three-dimensional conflict resolution involving multiple unmanned air vehicles (UAVs) using numerical trajectory optimization methods. The conflict problem is posed as an optimal control problem of finding trajectories that minimize a certain objective function while maintaining the safe separation between each UAV pair. We assume the origin and destination of the UAV are known and consider UAV models with simplified linear kinematics. The main objective of this report is to present two different approaches to the solution of the problem. In the first approach, the optimal control is converted to a finite dimensional nonlinear program (NLP) by using collocation on finite elements and by reformulating the disjunctions involved in modeling the protected zones by using continuous variables. In the second approach the optimal control is converted to a finite dimensional mixed integer linear program (MILP) using Euler discretization and reformulating the disjunctions involved with the protected zones by using binary variables and Big-M techniques. Based on results of extensive random simulations, we compare time complexity and optimality of the solutions obtained with the MILP approach and the NLP approach. NLPs are essential to enforce flyability constraints on more detailed UAV models. Moreover, any nonlinear extensions to the problem cannot be dealt with by MILP solvers. The main objective of this paper is to open the route to the use of MILP solutions (based on simple linear UAV models) in order to initialize NLP solvers which allow the use of dynamic UAV models at any desired level of detail.
BibTeX:
@inproceedings{1657644,
  author = {F. Borrelli and D. Subramanian and A.U. Raghunathan and L.T. Biegler},
  title = {MILP and NLP Techniques for centralized trajectory planning of multiple unmanned air vehicles},
  journal = {American Control Conference, 2006},
  year = {2006}
}
Avni O, Borrelli F, Katzir G, Rivlin E and Rotstein H (2006), "Scanning the Environment with Two Independent Cameras - Biologically Motivated Approach", Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on., October, 2006. , pp. 5297-5302.
Abstract: In this paper we present a novel method for visual scanning and target tracking by means of independent pan-tilt cameras which mimic the chameleon visual system. We present a systematic and optimization-based approach to the problem, from the high-level to the low-level control. In particular, in the first part we develop a new algorithm for scanning the sphere using multiple cameras. The algorithm combines information about the environment and a model of target movement, to perform optimal scanning by means of stochastic dynamic programming. In the second part we develop a model-based control strategy for target tracking. A switching optimal control strategy based on smooth pursuit and saccades is designed by means of explicit Model Predictive Control (MPC) theory. We simulated and experimentally validated our theory on a robotic chameleon head composed of two independent Pan-Tilt cameras. The resulting scanning pattern and target tracking has a remarkable resemblance to the one seen in nature by chameleons.
BibTeX:
@inproceedings{4059268,
  author = {O. Avni and F. Borrelli and G. Katzir and E. Rivlin and H. Rotstein},
  title = {Scanning the Environment with Two Independent Cameras - Biologically Motivated Approach},
  journal = {Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on},
  year = {2006},
  pages = {5297-5302}
}
Borrelli F and Keviczky T (2006), "Distributed LQR Design for Dynamically Decoupled Systems", Decision and Control, 2006 45th IEEE Conference on., December, 2006. , pp. 5639-5644.
Abstract: We consider a set of identical decoupled dynamical systems and a control problem where the performance index couples the behavior of the systems. The coupling is described through a communication graph where each system is a node and the control action at each node is only function of its state and the states of its neighbors. A distributed control design method is presented which requires the solution of a single LQR problem. The size of the LQR problem is equal to the maximum vertex degree of the communication graph plus one. The design procedure proposed in this paper illustrates how stability of the large-scale system is related to the robustness of local controllers and the spectrum of a matrix representing the sparsity pattern of the distributed controller design problem
BibTeX:
@inproceedings{4177426,
  author = {F. Borrelli and T. Keviczky},
  title = {Distributed LQR Design for Dynamically Decoupled Systems},
  journal = {Decision and Control, 2006 45th IEEE Conference on},
  year = {2006},
  pages = {5639-5644}
}
Avni O, Borrelli F, Katzir G, Rivlin E and Rotstein H (2006), "Using Dynamic Optimization for Reproducing the Chameleon Visual System", Decision and Control, 2006 45th IEEE Conference on., December, 2006. , pp. 1770-1775.
Abstract: This paper presents a method for robust target tracking with a set of independent pan-tilt cameras which combines smooth pursuit and saccades. The approach is systematic and optimization-based, and was inspired by our understanding of the chameleon visual system. Explicit robust and minimum-time model predictive control (MPC) theory is used for the design of the tracking control law. Experimental validation of the approach on a robotic chameleon head composed of two independent pan-tilt cameras is presented
BibTeX:
@inproceedings{4177642,
  author = {O. Avni and F. Borrelli and G. Katzir and E. Rivlin and H. Rotstein},
  title = {Using Dynamic Optimization for Reproducing the Chameleon Visual System},
  journal = {Decision and Control, 2006 45th IEEE Conference on},
  year = {2006},
  pages = {1770-1775}
}
Borrelli F, Bemporad A, Fodor M and Hrovat D (2006), "An MPC/Hybrid System Approach to Traction Control", IEEE Transactions on Control Systems Technology., May, 2006. Vol. 14(3), pp. 541 - 552.
BibTeX:
@article{BorEtal:2006:IFA_2954,
  author = {F. Borrelli and A. Bemporad and M. Fodor and D. Hrovat},
  title = {An MPC/Hybrid System Approach to Traction Control},
  journal = {IEEE Transactions on Control Systems Technology},
  year = {2006},
  volume = {14},
  number = {3},
  pages = {541 -- 552}
}
Falcone P, Borrelli F, Asgari J, Tseng HE and Hrovat D (2006), "Towards Real-Time Model Predictive Control Approach for Autonomous Active Steering", 8th International Symposium on Advanced Vehicle Control, Taipei, Taiwan.
BibTeX:
@inproceedings{ISAVC06,
  author = {P. Falcone and F. Borrelli and J. Asgari and H. E. Tseng and D. Hrovat},
  title = {Towards Real-Time Model Predictive Control Approach for Autonomous Active Steering},
  journal = {8th International Symposium on Advanced Vehicle Control, Taipei, Taiwan},
  year = {2006}
}
Keviczky T, Borrelli F and Balas GJ (2006), "Decentralized Receding Horizon Control for Large Scale Dynamically Decoupled Systems", Automatica., December, 2006. Vol. 42(12), pp. 2105-2115.
BibTeX:
@article{KBBaut05,
  author = {T. Keviczky and F. Borrelli and G. J. Balas},
  title = {Decentralized Receding Horizon Control for Large Scale Dynamically Decoupled Systems},
  journal = {Automatica},
  year = {2006},
  volume = {42},
  number = {12},
  pages = {2105--2115}
}
Falcone P, Borrelli F, Asgari J, Tseng HE and Hrovat D (2006), "A Real-Time Model Predictive Control Approach for Autonomous Active Steering", First IFAC Workshop on Nonlinear Model Predictive Control for Fast Systems. Grenoble, France
BibTeX:
@inproceedings{NLMPCFS06,
  author = {P. Falcone and F. Borrelli and J. Asgari and H. E. Tseng and D. Hrovat},
  title = {A Real-Time Model Predictive Control Approach for Autonomous Active Steering},
  journal = {First IFAC Workshop on Nonlinear Model Predictive Control for Fast Systems},
  year = {2006}
}
Keviczky T, Borrelli F and Balas GJ (2005), "Stability analysis of decentralized RHC for decoupled systems", Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on., December, 2005. , pp. 1689-1694.
Abstract: A detailed study on the stability and design of decentralized Receding Horizon Control (RHC) schemes for decoupled systems is presented. An optimal control problem is formulated for a set of decoupled dynamical systems where cost function and constraints couple the dynamical behavior of the systems. The coupling is described through a connected graph where each system is a node and, cost and constraints of the optimization problem associated to each node are only function of its state and the states of its neighbors. The complexity of the problem is addressed by breaking a centralized RHC controller into distinct RHC controllers of smaller sizes. Each RHC controller is associated to a different node and computes the local contol inputs based only on the states of the node and of its neighbors. Stability of the decentralized scheme is analyzed and its properties are compared with alternative decentralized RHC approaches being proposed in the literature.
BibTeX:
@inproceedings{1582402,
  author = {T. Keviczky and F. Borrelli and G. J. Balas},
  title = {Stability analysis of decentralized RHC for decoupled systems},
  journal = {Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on},
  year = {2005},
  pages = {1689-1694}
}
Borrelli F, Keviczky T and Stewart G (2005), "Decentralized Constrained Optimal Control Approach to Distributed Paper Machine Control", Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on., December, 2005. , pp. 3037-3042.
Abstract: A decentralized control scheme is proposed to address a spatially distributed paper machine control problem under industrial investigation. The methodology is based on constrained optimal control and tackles the complexity of the problem by solving local problems of small size, which are coupled through their performance objectives and constraints. Properties of the decentralized scheme are analyzed in detail and compared to the existing centralized receding horizon controller currently used in industry. In terms of the simulated example the decentralized controller can achieve similar performance to the centralized controller but at a fraction of the computational cost.
BibTeX:
@inproceedings{1582627,
  author = {F. Borrelli and T. Keviczky and G.E. Stewart},
  title = {Decentralized Constrained Optimal Control Approach to Distributed Paper Machine Control},
  journal = {Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on},
  year = {2005},
  pages = {3037-3042}
}
Borrelli F, Keviczky T, Fregene K and Balas GJ (2005), "Decentralized Receding Horizon Control of Cooperative Vechicle Formations", Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on., December, 2005. , pp. 3955-3960.
Abstract: An overview of a novel approach to vehicle formation control is presented. The scheme is based on decentralized and cooperative predictive control. The control scheme is being tested on Unmanned Air Vehicle models at the Honeywell Laboratories in Minneapolis. Each vehicle is equipped with efficient guidance and control loops which enable the implementation of the decentralized scheme for higher-level control and coordination. In this framework, collision avoidance and constraint fulfillment are ensured by using a logic that switches to collision-free emergency maneuvers if necessary. The size of protection zones associated with this logic is determined from invariant set theory. The scheme also makes use of logic rules which improve stability and feasibility of the decentralized method by enforcing coordination. The decentralized control laws which respect the rules are computed using hybrid control design techniques. The proposed decentralized control scheme is formulated as optimization problems of small sizes which can be translated into equivalent piecewise affine state-feedback controllers. These controllers can then be downloaded as corresponding look-up tables to the onboard avionics of the vehicle and run in realtime.
BibTeX:
@inproceedings{1582779,
  author = {F. Borrelli and T. Keviczky and K. Fregene and G. J. Balas},
  title = {Decentralized Receding Horizon Control of Cooperative Vechicle Formations},
  journal = {Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on},
  year = {2005},
  pages = {3955-3960}
}
Borrelli F, Baotic M, Bemporad A and Morari M (2005), "Dynamic Programming for Constrained Optimal Control of Discrete-Time Hybrid Systems", Automatica., October, 2005. Vol. 41, pp. 1709-1721.
BibTeX:
@article{BBBM5,
  author = {F. Borrelli and M. Baotic and A. Bemporad and M. Morari},
  title = {Dynamic Programming for Constrained Optimal Control of Discrete-Time Hybrid Systems},
  journal = {Automatica},
  year = {2005},
  volume = {41},
  pages = {1709-1721}
}
Borrelli F, Keviczky T, Balas GJ, Stewart G, Fregene K and Godbole D (2005), "Hybrid Decentralized Control of Large Scale Systems", In Hybrid Systems: Computation and Control., March, 2005. Springer Verlag GmbH.
BibTeX:
@inproceedings{BKBSFG05,
  author = {F. Borrelli and T. Keviczky and G. J. Balas and G. Stewart and K. Fregene and D. Godbole},
  editor = {M. Morari, L. Thiele, F. Rossi},
  title = {Hybrid Decentralized Control of Large Scale Systems},
  booktitle = {Hybrid Systems: Computation and Control},
  publisher = {Springer Verlag GmbH},
  year = {2005}
}
Borrelli F, Falcone P, Keviczky T, Asgari J and Hrovat D (2005), "MPC-Based Approach to Active Steering for Autonomous Vehicle Systems", International Journal Vehicle Autonomous Systems. Vol. 3(2/3/4), pp. 265-291.
BibTeX:
@article{NLMPC05,
  author = {F. Borrelli and P. Falcone and T. Keviczky and J. Asgari and D. Hrovat},
  title = {MPC-Based Approach to Active Steering for Autonomous Vehicle Systems},
  journal = {International Journal Vehicle Autonomous Systems},
  year = {2005},
  volume = {3},
  number = {2/3/4},
  pages = {265-291}
}
Keviczky T, Borrelli F and Balas GJ (2004), "A study on decentralized receding horizon control for decoupled systems", American Control Conference, 2004. Proceedings of the 2004., June, 2004. Vol. 6, pp. 4921-4926.
Abstract: We consider a set of decoupled dynamical systems and an optimal control problem where cost function and constraints couple the dynamical behavior of the systems. The coupling is described through a connected graph where each system is a node, and cost and constraints of the optimization problem associated to each node are only function of its state and the states of its neighbors. For such scenario, we propose a framework for designing decentralized receding horizon control (RHC) control schemes. In these decentralized schemes, a centralized RHC controller is broken into distinct RHC controllers of smaller sizes. Each RHC controller is associated to a different node and computes the local control inputs based only on the states of the node and of its neighbors. The proposed decentralized control schemes are formulated in a rigorous mathematical framework. Moreover, we highlight the main issues involved in guaranteeing stability and constraint fulfillment for such schemes and the degree of conservativeness that the decentralized approach introduces.
BibTeX:
@inproceedings{1384629,
  author = {T. Keviczky and F. Borrelli and G. J. Balas},
  title = {A study on decentralized receding horizon control for decoupled systems},
  journal = {American Control Conference, 2004. Proceedings of the 2004},
  year = {2004},
  volume = {6},
  pages = {4921-4926}
}
Borrelli F, Keviczky T and Balas G (2004), "Collision-free UAV formation flight using decentralized optimization and invariant sets", Decision and Control, 2004. CDC. 43rd IEEE Conference on., December, 2004. Vol. 1, pp. 1099-1104.
Abstract: We consider the problem of formation flight for a set of unmanned air vehicles (UAV). We propose a decentralized control design procedure which guarantees collision avoidance and constraint fulfillment. The control design is based on a decentralized receding horizon control (RHC) scheme. Vehicle collision avoidance is ensured by considering a collision-free emergency maneuver which is implemented when feasibility of the decentralized RHC scheme is lost. Bounds on speed and accelerations are computed off-line using simple polyhedral invariant set computations. Such bounds guarantee that the implementation of the emergency maneuver leads to collision-free trajectories. The proposed decentralized control scheme is formulated as mixed-integer linear programs of small sizes which can be translated into equivalent piecewise affine state-feedback controllers. These controllers can be implemented in real-time once the corresponding look-up tables are downloaded to the hardware platform of the UAVs.
BibTeX:
@inproceedings{1428839,
  author = {F. Borrelli and T. Keviczky and G.J Balas},
  title = {Collision-free UAV formation flight using decentralized optimization and invariant sets},
  journal = {Decision and Control, 2004. CDC. 43rd IEEE Conference on},
  year = {2004},
  volume = {1},
  pages = {1099-1104}
}
Keviczky T, Borrelli F and Balas GJ (2004), "Hierarchical design of decentralized receding horizon controllers for decoupled systems", Decision and Control, 2004. CDC. 43rd IEEE Conference on., December, 2004. Vol. 2, pp. 1592-1597.
Abstract: In our recent paper (2004), we have proposed a method for designing decentralized receding horizon controllers (RHC). Each RHC controller is associated to a different node and computes the local control inputs based only on the states of the node and of its neighbors. For such a decentralized scheme, stability and feasibility can be ensured in different ways, by modifying cost, constraints and communications structure. In this paper, we focus on decentralized RHC control design through hierarchical decomposition. A certain priority is assigned to each node of the graph and nodes with high priorities compute control laws for nodes with lower priorities. We study how to ensure stability and feasibility of such scheme when the explicit feasibility domains of the decentralized RHC are available. Moreover, we propose a hierarchical RHC control scheme with stability and feasibility guarantees.
BibTeX:
@inproceedings{1430271,
  author = {T. Keviczky and F. Borrelli and G. J. Balas},
  title = {Hierarchical design of decentralized receding horizon controllers for decoupled systems},
  journal = {Decision and Control, 2004. CDC. 43rd IEEE Conference on},
  year = {2004},
  volume = {2},
  pages = {1592-1597}
}
Grieder P, Borrelli F, Torrisi F and Morari M (2004), "Computation of the Constrained Infnite Time Linear Quadratic Regulator", Automatica. Vol. 40, pp. 701-708.
BibTeX:
@article{GriEtal:aut:04,
  author = {P. Grieder and F. Borrelli and F. Torrisi and M. Morari},
  title = {Computation of the Constrained Infnite Time Linear Quadratic Regulator},
  journal = {Automatica},
  year = {2004},
  volume = {40},
  pages = {701--708}
}
Grieder P, Borrelli F, Torrisi F and Morari M (2003), "Computation of the constrained infinite time linear quadratic regulator", American Control Conference, 2003. Proceedings of the 2003., June, 2003. Vol. 6, pp. 4711-4716.
Abstract: This paper presents an efficient algorithm for computing the solution to the constrained infinite time linear quadratic regulator (CLQR) problem for discrete time systems. The algorithm combines multi-parametric quadratic programming with reachability analysis to obtain the optimal piecewise affine (PWA) feedback law. The algorithm reduces the time necessary to compute the PWA solution for the CLQR when compared to other approaches. It also determines the minimal finite horizon N/sub S/, such that the constrained finite horizon LQR problem equals the CLQR problem for a compact set of states S. The on-line computational effort for the implementation of the CLQR can be significantly reduced as well, either by evaluating the PWA solution or by solving the finite dimensional quadratic program associated with the CLQR for a horizon of N=N/sub S/.
BibTeX:
@inproceedings{1242467,
  author = {P. Grieder and F. Borrelli and F. Torrisi and M. Morari},
  title = {Computation of the constrained infinite time linear quadratic regulator},
  journal = {American Control Conference, 2003. Proceedings of the 2003},
  year = {2003},
  volume = {6},
  pages = {4711-4716}
}
Borrelli F, Baotic M, Bemporad A and Morari M (2003), "An efficient algorithm for computing the state feedback optimal control law for discrete time hybrid systems", American Control Conference, 2003. Proceedings of the 2003., June, 2003. Vol. 6, pp. 4717-4722.
Abstract: In this paper we propose an efficient algorithm for computing the solution to the finite time optimal control problem for discrete time linear hybrid systems with a quadratic performance criterion. The algorithm is based on a dynamic programming recursion and a multiparametric quadratic programming solver.
BibTeX:
@inproceedings{1242468,
  author = {F. Borrelli and M. Baotic and A. Bemporad and M. Morari},
  title = {An efficient algorithm for computing the state feedback optimal control law for discrete time hybrid systems},
  journal = {American Control Conference, 2003. Proceedings of the 2003},
  year = {2003},
  volume = {6},
  pages = {4717-4722}
}
Bemporad A, Borrelli F and Morari M (2003), "Min-Max Control of Constrained Uncertain Discrete-Time Linear Systems", IEEE Transactions on Automatic Control., September, 2003. Vol. 48(9), pp. 1600-1606.
BibTeX:
@article{BemEtal:TAC:03,
  author = {A. Bemporad and F. Borrelli and M. Morari},
  title = {Min-Max Control of Constrained Uncertain Discrete-Time Linear Systems},
  journal = {IEEE Transactions on Automatic Control},
  year = {2003},
  volume = {48},
  number = {9},
  pages = {1600--1606}
}
Borrelli F, Bemporad A and Morari M (2003), "A Geometric Algorithm for Multi-Parametric Linear Programming", Journal of Optimization Theory and Applications. Vol. 118(3), pp. 515-540.
BibTeX:
@article{BorBem:2003:IFA_236,
  author = {F. Borrelli and A. Bemporad and M. Morari},
  title = {A Geometric Algorithm for Multi-Parametric Linear Programming},
  journal = {Journal of Optimization Theory and Applications},
  year = {2003},
  volume = {118},
  number = {3},
  pages = {515--540}
}
Borrelli F (2003), "Constrained Optimal Control of Linear and Hybrid Systems" Vol. 290 Springer.
BibTeX:
@book{BorrelliBOOK,
  author = {F. Borrelli},
  title = {Constrained Optimal Control of Linear and Hybrid Systems},
  publisher = {Springer},
  year = {2003},
  volume = {290}
}
Morari M, Baotic M and Borrelli F (2003), "Hybrid Systems Modeling and Control", European Journal of Control. Vol. 9(2-3), pp. 177-189.
BibTeX:
@article{MorBao:2003:IFA_392,
  author = {M. Morari and M. Baotic and F. Borrelli},
  title = {Hybrid Systems Modeling and Control},
  journal = {European Journal of Control},
  year = {2003},
  volume = {9},
  number = {2-3},
  pages = {177--189}
}
Wenger L and Borrelli F (2002), "The application of constrained optimal control to active automotive suspensions", Decision and Control, 2002, Proceedings of the 41st IEEE Conference on., December, 2002. , pp. 881-886.
Abstract: Vehicle suspensions in which forces are generated in response to feedback signals by active elements offer increased design flexibility compared to conventional suspensions using passive elements. Although the design and the synthesis of advanced active suspension can be approached in several different ways, the optimal control techniques seem to constitute the most natural one. Based on a result on constrained optimal control theory, we propose a novel optimal controller design where the mechanical constraints of the system components are included explicitly into the controller synthesis. The resulting state feedback control law is continuous and piecewise affine, satisfies the design constraints and can be tuned so that good road holding ability and ride comfort are achieved.
BibTeX:
@inproceedings{1184619,
  author = {L. Wenger and F. Borrelli},
  title = {The application of constrained optimal control to active automotive suspensions},
  journal = {Decision and Control, 2002, Proceedings of the 41st IEEE Conference on},
  year = {2002},
  pages = {881-886}
}
Bemporad A, Borrelli F and Morari M (2002), "On the Optimal Control Law for Linear Discrete Time Hybrid Systems", In Hybrid Systems: Computation and Control., March, 2002. , pp. 105-119. Springer Verlag GmbH.
BibTeX:
@inproceedings{BBMHS02,
  author = {A. Bemporad and F. Borrelli and M. Morari},
  editor = {Claire J. Tomlin and Mark R. Greenstreet},
  title = {On the Optimal Control Law for Linear Discrete Time Hybrid Systems},
  booktitle = {Hybrid Systems: Computation and Control},
  publisher = {Springer Verlag GmbH},
  year = {2002},
  pages = {105-119}
}
Bemporad A, Borrelli F and Morari M (2002), "Model Predictive Control Based on Linear Programming - The Explicit Solution", IEEE Transactions on Automatic Control., December, 2002. Vol. 47(12), pp. 1974-1985.
BibTeX:
@article{BemBor:2002:IFA_299,
  author = {A. Bemporad and F. Borrelli and M. Morari},
  title = {Model Predictive Control Based on Linear Programming - The Explicit Solution},
  journal = {IEEE Transactions on Automatic Control},
  year = {2002},
  volume = {47},
  number = {12},
  pages = {1974--1985}
}
Borrelli F, Baotic M, Bemporad A and Morari M (2001), "Efficient on-line computation of constrained optimal control", Decision and Control, 2001. Proceedings of the 40th IEEE Conference on. Vol. 2, pp. 1187-1192.
Abstract: For discrete-time linear time-invariant systems with constraints on inputs and outputs, the constrained finite-time optimal controller can be obtained explicitly as a piecewise-affine function of the initial state via multi-parametric programming. By exploiting the properties of the value function, we present two algorithms that efficiently perform the online evaluation of the explicit optimal control law both in terms of storage demands and computational complexity. The algorithms are particularly effective when used for model-predictive control (MPC) where an open-loop constrained finite-time optimal control problem has to be solved at each sampling time
BibTeX:
@inproceedings{981046,
  author = {F. Borrelli and M. Baotic and A. Bemporad and M. Morari},
  title = {Efficient on-line computation of constrained optimal control},
  journal = {Decision and Control, 2001. Proceedings of the 40th IEEE Conference on},
  year = {2001},
  volume = {2},
  pages = {1187-1192}
}
Borrelli F, Bemporad A, Fodor M and Hrovat D (2001), "A Hybrid Approach to Traction Control", In Hybrid Systems: Computation and Control., March, 2001. , pp. 162-174. Springer Verlag.
BibTeX:
@inproceedings{BBFH01a,
  author = {F. Borrelli and A. Bemporad and M. Fodor and D. Hrovat},
  editor = {A. Sangiovanni-Vincentelli and M.D. Di Benedetto},
  title = {A Hybrid Approach to Traction Control},
  booktitle = {Hybrid Systems: Computation and Control},
  publisher = {Springer Verlag},
  year = {2001},
  pages = {162--174}
}
Bemporad A, Borrelli F and Morari M (2001), "Robust Model Predictive Control: Piecewise Linear Explicit Solution", Proceedings of the European Control Conference. Porto, Portugal, September, 2001. , pp. 939-944.
BibTeX:
@inproceedings{BemEtal:ecc:01,
  author = {A. Bemporad and F. Borrelli and M. Morari},
  title = {Robust Model Predictive Control: Piecewise Linear Explicit Solution},
  journal = {Proceedings of the European Control Conference},
  year = {2001},
  pages = {939--944}
}
Bemporad A, Borrelli F, Glielmo L and Vasca F (2001), "Hybrid Control of Dry Clutch Engagement", Proceedings of the European Control Conference. Porto, Portugal, September, 2001.
BibTeX:
@inproceedings{Bemporad2001,
  author = {A. Bemporad and F. Borrelli and L. Glielmo and F. Vasca},
  title = {Hybrid Control of Dry Clutch Engagement},
  journal = {Proceedings of the European Control Conference},
  year = {2001}
}
Bemporad A, Borrelli F, Glielmo L and Vasca F (2001), "Optimal Piecewise-Linear Control of Dry Clutch Engagement", 3rd IFAC Workshop: Advances in Automotive Control. Karlsruhe, Germany, March, 2001.
BibTeX:
@inproceedings{Bemporad2001a,
  author = {A. Bemporad and F. Borrelli and L. Glielmo and F. Vasca},
  title = {Optimal Piecewise-Linear Control of Dry Clutch Engagement},
  journal = {3rd IFAC Workshop: Advances in Automotive Control},
  year = {2001}
}
Bemporad A, Borrelli F and Morari M (2000), "Piecewise linear optimal controllers for hybrid systems", American Control Conference, 2000. Proceedings of the. Vol. 2, pp. 1190-1194.
Abstract: We propose a procedure for synthesizing piecewise linear optimal controllers for discrete-time hybrid systems. A stabilizing controller is obtained by designing a model predictive controller, which is based on the minimization of a weighted l1/?-norm of the tracking error and the input trajectories over a finite horizon. The control law is obtained by solving a multiparametric mixed-integer linear program, which avoids solving mixed-integer programs online. As the resulting control law is piecewise affine, online computation is drastically reduced to a simple linear function evaluation
BibTeX:
@inproceedings{876688,
  author = {A. Bemporad and F. Borrelli and M. Morari},
  title = {Piecewise linear optimal controllers for hybrid systems},
  journal = {American Control Conference, 2000. Proceedings of the},
  year = {2000},
  volume = {2},
  pages = {1190-1194}
}
Bemporad A, Borrelli F and Morari M (2000), "Optimal controllers for hybrid systems: stability and piecewise linear explicit form", Decision and Control, 2000. Proceedings of the 39th IEEE Conference on. Vol. 2, pp. 1810-1815.
Abstract: We propose a procedure for synthesizing piecewise linear optimal controllers for hybrid systems and investigate conditions for closed-loop stability. Hybrid systems are modeled in discrete-time within the mixed logical dynamical framework, or, equivalently, as piecewise affine systems. A stabilizing controller is obtained by designing a model predictive controller, which is based on the minimization of a weighted 1/?-norm of the tracking error and the input trajectories over a finite horizon. The control law is obtained by solving a mixed-integer linear program (MILP) which depends on the current state. Although efficient branch and bound algorithms exist to solve MILPs, these are known to be NP-hard problems, which may prevent their online solution if the sampling-time is too small for the available computation power. Rather than solving the MILP online, we propose a different approach where all the computation is moved off line, by solving a multiparametric MILP. As the resulting control law is piecewise affine, online computation is drastically reduced to a simple linear function evaluation. An example of piecewise linear optimal control of a heat exchange system shows the potential of the method
BibTeX:
@inproceedings{912125,
  author = {A. Bemporad and F. Borrelli and M. Morari},
  title = {Optimal controllers for hybrid systems: stability and piecewise linear explicit form},
  journal = {Decision and Control, 2000. Proceedings of the 39th IEEE Conference on},
  year = {2000},
  volume = {2},
  pages = {1810-1815}
}
Bemporad A, Borrelli F and Morari M (2000), "The explicit solution of constrained LP-based receding horizon control", Decision and Control, 2000. Proceedings of the 39th IEEE Conference on. Vol. 1, pp. 632-637.
Abstract: For discrete-time linear time-invariant systems with constraints on inputs and states, we develop an algorithm to determine explicitly, as a function of the initial state, the solution to optimal control problems that can be formulated using a linear program. In particular, we focus our attention on a receding horizon control scheme where the performance criterion is based on a mixed 1/?-norm. We show that the optimal control profile is a piecewise linear and continuous function of the initial state. Thus, when the optimal control problem is solved at each time step according to a moving horizon scheme, the online computation of the resultant model predictive controller is reduced to a simple linear function evaluation, instead of the typical expensive linear program required up to now. The technique proposed has both theoretical and practical advantages. The proposed technique is attractive for a wide range of applications where the simplicity of the online computational complexity is a crucial requirement
BibTeX:
@inproceedings{912837,
  author = {A. Bemporad and F. Borrelli and M. Morari},
  title = {The explicit solution of constrained LP-based receding horizon control},
  journal = {Decision and Control, 2000. Proceedings of the 39th IEEE Conference on},
  year = {2000},
  volume = {1},
  pages = {632-637}
}