Adaptive MPC

MPC: Model Predictive Control

Latest papers

16 papers3 papers in the last four weeks, level with the four weeks before. 0.0% of all new papers.

VisGeo-PipeTrack: A Visual Geometric Servo Control Framework with MPC-RCAPID Control for UAV-Based Dynamic Pipes Tracking
Oct 26, 2026Zhenyang Gao, Jianlin Chen, Yang Yu +3Quadrotor Control Vision-Based Robot Control
School of Civil Aviation, Northwestern Polytechnical University, 127 West Youyi Road, Xi’an Shaanxi, 710072, P. R. China. · School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai 200240, P. R. China.
Real-Time Disturbance-Aware Koopman Model Predictive Control for Quadrotors in Spatially Varying Winds
Oct 20, 2026Stella Kombo, Masih Haseli, Alejandro A. Stefan-Zavala +3Adaptive MPC Quadrotor Control
Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA 91125, USA.
Planning to Learn: Real-Time Robust Adaptive Control on the GPU with Guaranteed Future Learning
Oct 14, 2026Anutam Srinivasan, Siddhant Panse, Glen ChouReal-Time Robot Control Adaptive MPC
Georgia Institute of Technology, School of Electrical & Computer Engineering · Georgia Institute of Technology, Schools of Cybersecurity & Privacy, Aerospace Engineering
LLA-MPC on Embedded Hardware: Rapid Adaptive Control with Thousands of Parallel Models
Oct 2, 2026Henry Z. Liao, Maitham F. AL-Sunni, John M. DolanAdaptive MPC Model Predictive Control
Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA · Department of Electrical & Computer Engineering, Carnegie Mellon University, Pittsburgh, PA, USA
Think Fast, Plan Selectively: Adaptive Deliberation for Efficient Data-Driven MPC
Sep 26, 2026Yi Xian Goh, Sze Jue Yang, Hao LuanAdaptive MPC Data-Driven Control
Independent Researcher · Faculty of Computer Science and Information Technology, Universiti Malaya · School of Computing, National University of Singapore
Underwater Visual Target Tracking with Target-Specific Depth Estimation and Adaptive Model-Fusion Predictive Control
Sep 17, 2026Yuheng Zhou, Haiyang Cheng, Yanqi Feng +5Adaptive MPC Depth Estimation
Department of Automation, Shanghai Jiao Tong University, Shanghai, China · University of Toronto, Toronto, Canada · University of Calgary, Calgary, Canada
Task-Oriented Active Learning of Residual Dynamics for Model Predictive Path Integral Control
Sep 16, 2026Nobuaki Aoki, Hojin Lee, Stefan Sosnowski +1Residual Learning Residual Dynamics Learning
Chair of Information-oriented Control (ITR), Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany · Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich, Munich, Germany
Self-Adaptive Learning and Model Predictive Control for Tracking Unknown Dynamics with No Regret
Jul 29, 2026Atharva Navsalkar, Hongyu Zhou, Vasileios TzoumasModel Predictive Control Dynamical Systems
Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI 48109 USA
AD-MPCC: Adaptive Differentiable Model Predictive Contouring Control for Autonomous Racing
Jun 30, 2026Nam T. Nguyen, Binh Nguyen, Ahmad Amine +3Model Predictive Control Nonlinear MPC
Department of Electrical and Computer Engineering, University of Central Florida, Orlando, FL 32816, USA. · Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA 19104, USA. · CTI Lab4EV, School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Hanoi 100000, Vietnam.
AdaReP:Adaptive Re-Planning under Model Mismatch for Neural World-Model Predictive Control
Jun 22, 2026Yutian Cheng, Xiaojian Ma, Xianhao Wang +6World Model-Based Planning World Models for Robotics
Shanghai Jiao Tong University · Beijing Institute for General Artificial Intelligence (BIGAI) · University of Science and Technology of China
T2S-MPC: Time-Embedded Online Adaptive Model Predictive Control for Time-Varying Dynamics
May 24, 2026Zeyu Shen, Zhuoyuan Wang, Laixi ShiAdaptive MPC Online System Identification
Department of Applied Mathematics and Statistics, Johns Hopkins University, MD, USA. · Department of Electrical and Computer Engineering, Carnegie Mellon University, PA, USA. · Department of Electrical and Computer Engineering, Johns Hopkins University, MD, USA.
Bilinear Mamba-Koopman Neural MPC for Varying Dynamics
May 6, 2026Matan Pagi, Zohar SorekOptimal Control Dynamical Systems
Psistar AI
Koopman-Based Nonlinear Identification and Model Predictive Control of a Turbofan Engine
Apr 2, 2026David GrasevAdaptive MPC Extended Dynamic Mode Decomposition
Department of Aviation Technology, University of Defence, Brno, Czech Republic.
Predictive Control with Indirect Adaptive Laws for Payload Transportation by Quadrupedal Robots
Mar 9, 2026Leila Amanzadeh, Taizoon Chunawala, Randall T. Fawcett +2Adaptive MPC Robotics
Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USA · Exponent Inc., Phoenix, AZ 85027, USA
Information-Theoretic Framework for Self-Adapting Model Predictive Controllers
Mar 1, 2026Wael Hafez, Amir NazeriAdaptive MPC Model Predictive Control
Semarx Research LLC, Alexandria, VA, USA
Observed Control - Linearly Scalable Nonlinear Model Predictive Control with Adaptive Horizons
Aug 18, 2025Eugene T. Hamzezadeh, Andrew J. PetruskaNonlinear MPC Model Predictive Control
Colorado School of Mines, Golden, CO 80401, USA

Oct 26, 2026J/K move · Enter open · S save

VisGeo-PipeTrack: A Visual Geometric Servo Control Framework with MPC-RCAPID Control for UAV-Based Dynamic Pipes Tracking

Zhenyang Gao, Jianlin Chen, Yang Yu, Honghao Shan+2

School of Civil Aviation, Northwestern Polytechnical University, 127 West Youyi Road, Xi’an Shaanxi, 710072, P. R. China. · School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai 200240, P. R. China.

Quadrotor Control Vision-Based Robot Control Adaptive MPC Visual Object Tracking Industrial Inspection

Open paper AskPDF arXiv

While unmanned aerial vehicles (UAVs) are increasingly deployed for pipeline inspection, prevailing research predominantly assumes static pipes. In real-world industrial environments, pipes often exhibit dynamic movements, such as vibrations. This imposes more stringent requirements on UAVs' adaptive control and computational efficiency than in static scenarios. Therefore, this paper proposes a servo control framework named VisGeo-PipeTrack, which utilizes geometric constraints to enable UAV tracking of dynamic pipes. To achieve efficient UAV positioning, YOLOv5 is employed to detect labels on the pipe. The positions are derived from visual geometric constraints based on these detected labels to enable precise localization. To address tracking control challenges, a model predictive control based real-time corrected adaptive PID (MPC-RCAPID) controller is proposed. This controller employs the Recursive Least Squares method for real-time model estimation and integrates rolling horizon optimization to dynamically adjust PID parameters. Experiments conducted on both the AirSim simulator and the Tello UAV platform validate the effectiveness of the proposed framework. Simulation comparisons with standard PID, fractional-order PID, adaptive PID, and fuzzy PID demonstrate that MPC-RCAPID achieves the shortest settling time (3.26 s) and the lowest average tracking error (3.52%). In physical experiments on the Tello platform, compared with standard PID control, MPC-RCAPID reduces the average tracking error by 55.52%, 26.72%, and 26.52% across the three test dimensions. These results demonstrate that VisGeo-PipeTrack facilitates efficient autonomous tracking in dynamic pipe environments.