Publications by Melanie Nicole Zeilinger

Model Predictive Control for Multi-Agent Systems under Limited Communication and Time-Varying Network Topology

Melanie Nicole Zeilinger, Danilo Saccani

In control system networks, reconfiguration of the controller when agents are leaving or joining the network is still an open challenge, in particular when operation constraints that depend on each agent's behavior must be met. Drawing our motivation from ...

IEEE2023

Physics-Informed Machine Learning for Modeling and Control of Dynamical Systems

Colin Neil Jones, Melanie Nicole Zeilinger, Xuan Truong Nghiem, Roland Schwan

Physics-informed machine learning (PIML) is a set of methods and tools that systematically integrate machine learning (ML) algorithms with physical constraints and abstract mathematical models developed in scientific and engineering domains. As opposed to ...

IEEE2023

Homothetic Tube Model Predictive Control With Multi-Step Predictors

Melanie Nicole Zeilinger, Giancarlo Ferrari Trecate, Danilo Saccani

We present a robust model predictive control (MPC) framework for linear systems facing bounded parametric uncertainty and bounded disturbances. Our approach deviates from standard MPC formulations by integrating multi-step predictors, which provide reduced ...

Ieee-Inst Electrical Electronics Engineers Inc2023

Data-driven control of room temperature and bidirectional EV charging using deep reinforcement learning: Simulations and experiments

Christian Baumann, Melanie Nicole Zeilinger, Loris Di Natale, Bratislav Svetozarevic

2022

Quantization Design for Distributed Optimization

Colin Neil Jones, Ye Pu, Melanie Nicole Zeilinger

We consider the problem of solving a distributed optimization problem using a distributed computing platform, where the communication in the network is limited: each node can only communicate with its neighbors and the channel has a limited data-rate. A co ...

2017

Complexity Certification of the Fast Alternating Minimization Algorithm for Linear MPC

Colin Neil Jones, Ye Pu, Melanie Nicole Zeilinger

In this technical note, the fast alternating minimization algorithm (FAMA) is proposed to solve model predictive control (MPC) problems with polytopic and second-order cone constraints. Two splitting strategies with efficient implementations for MPC proble ...

2017

Distributed synthesis and stability of cooperative distributed model predictive control for linear systems

Colin Neil Jones, Melanie Nicole Zeilinger

This paper presents a new formulation and synthesis approach for stabilizing cooperative distributed model predictive control (MPC) for networks of linear systems, which are coupled in their dynamics. The controller is defined by a network-wide constrained ...

Elsevier2016

MPC for Tracking Periodic References

Colin Neil Jones, Melanie Nicole Zeilinger

In this technical note, a new model predictive controller for tracking arbitrary periodic references is presented. The proposed controller is based on a single layer that unites dynamic trajectory planning and control. A design procedure to guarantee that ...

Institute of Electrical and Electronics Engineers2016

Quantization Design for Unconstrained Distributed Optimization

Colin Neil Jones, Ye Pu, Melanie Nicole Zeilinger

We consider an unconstrained distributed optimization problem and assume that the bit rate of the communication in the network is limited. We propose a distributed optimization algorithm with an iteratively refining quantization design, which bounds the qu ...

2015

Quantization design for distributed optimization with time-varying parameters

Colin Neil Jones, Ye Pu, Melanie Nicole Zeilinger

2015

Constrained Spectrum Control

Colin Neil Jones, Jean-Hubert Hours, Melanie Nicole Zeilinger

A novel Nonlinear Model Predictive Control (NMPC) scheme is proposed in order to shape the harmonic response of constrained nonlinear systems. The salient ingredient is the short-time Fourier transform (STFT) of the system's output signal, which is constra ...

Institute of Electrical and Electronics Engineers2015

Soft Constrained Model Predictive Control With Robust Stability Guarantees

Colin Neil Jones, Melanie Nicole Zeilinger

Soft constrained model predictive control (MPC) is frequently applied in practice in order to ensure feasibility of the optimization during online operation. Standard techniques offer global feasibility by relaxing state or output constraints, but cannot e ...

Institute of Electrical and Electronics Engineers2014

On real-time robust model predictive control

Colin Neil Jones, Melanie Nicole Zeilinger

High-speed applications impose a hard real-time constraint on the solution of a model predictive control (MPC) problem, which generally prevents the computation of the optimal control input. As a result, in most MPC implementations guarantees on feasibilit ...

Elsevier2014

Inexact Fast Alternating Minimization Algorithm for Distributed Model Predictive Control

Colin Neil Jones, Ye Pu, Melanie Nicole Zeilinger

2014

Robust Distributed Model Predictive Control of Linear Systems

Colin Neil Jones, Melanie Nicole Zeilinger

In this work, synthesis and closed-loop operation of robust distributed model predictive control (MPC) for linear systems using distributed optimization is discussed. Previous work has shown that a nominal MPC controller for this setup can be synthesized a ...

2013

Spectrogram MPC: Enforcing hard constraints on system's output spectra

Colin Neil Jones, Jean-Hubert Hours, Melanie Nicole Zeilinger

A novel model predictive control (MPC) scheme that allows one to enforce hard constraints on the spectrum of a constrained system’s output signal is presented. The approach is based on a time-local analysis of the spectrum of output signals by means of the ...

Ieee Computer Soc2012

Efficient Interior Point Methods for Multistage Problems Arising in Receding Horizon Control

Colin Neil Jones, Melanie Nicole Zeilinger

Receding horizon control requires the solution of an optimization problem at every sampling instant. We present efficient interior point methods tailored to convex multistage problems, a problem class which most relevant MPC problems with linear dynamics c ...

2012

MPC for tracking periodic reference signals

Colin Neil Jones, Melanie Nicole Zeilinger

This paper is devoted to the design of a predictive controller for constrained linear systems to track periodic references. The only assumption on the dynamics of the reference is that it is periodic and its period is known. It is also assumed that the ref ...

2012

Distributed Synthesis and Control of Constrained Linear Systems

Colin Neil Jones, Melanie Nicole Zeilinger

This work presents an approach for both dis- tributed synthesis and control for a network of discrete-time constrained linear systems without central coordinator. Every system in the network is dynamically coupled to a number of neighboring systems and it ...

2012

Efficient Interior Point Methods for Multistage Problems Arising in Receding Horizon Control

Colin Neil Jones, Melanie Nicole Zeilinger

Receding horizon control requires the solution of an optimization problem at every sampling instant. We present efficient interior point methods tailored to convex multistage problems, a problem class which most relevant MPC problems with linear dynamics c ...

2012