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Model Predictive Control (MPC) is a method to control nonlinear systems with guaranteed stability and constraint satisfaction but suffers from high computation times. Approximate MPC (AMPC) with neural networks (NNs) has emerged to address this limitation, enabling deployment on resource-constrained embedded systems. However, when tuning AMPCs for real-world systems, large datasets need to be regenerated and the NN needs to be retrained at every tuning step. This work introduces a novel, parameter-adaptive AMPC architecture capable of online tuning without recomputing large datasets and retraining. By incorporating local sensitivities of nonlinear programs, the proposed method not only mimics optimal MPC inputs but also adjusts to known changes in physical parameters of the model using linear predictions while still guaranteeing stability. We showcase the effectiveness of parameter-adaptive AMPC by controlling the swing-ups of two different real cartpole systems with a severely resource-constrained microcontroller (MCU). We use the same NN across both system instances that have different parameters. This work not only represents the first experimental demonstration of AMPC for fast-moving systems on low-cost MCUs to the best of our knowledge, but also showcases generalization across system instances and variations through our parameter-adaptation method. Taken together, these contributions represent a marked step toward the practical application of AMPC in real-world systems., Comment: Accepted to L4DC 2024

The ability to detect faults is an important safety feature for event-based multi-agent systems. In most existing algorithms, each agent tries to detect faults by checking its own behavior. But what if one agent becomes unable to recognize misbehavior, for example due to failure in its onboard fault detection? To improve resilience and avoid propagation of individual errors to the multi-agent system, agents should check each other remotely for malfunction or misbehavior. In this paper, we build upon a recently proposed predictive triggering architecture that involves communication priorities shared throughout the network to manage limited bandwidth. We propose a fault detection method that uses these priorities to detect errors in other agents. The resulting algorithms is not only able to detect faults, but can also run on a low-power microcontroller in real-time, as we demonstrate in hardware experiments.

Distributed model predictive control (DMPC) is often used to tackle path planning for unmanned aerial vehicle (UAV) swarms. However, it requires considerable computations on-board the UAV, leading to increased weight and power consumption. In this work, we propose to offload path planning computations to multiple ground-based computation units. As simultaneously communicating and recomputing all trajectories is not feasible for a large swarm with tight timing requirements, we develop a novel event-triggered DMPC that selects a subset of most relevant UAV trajectories to be replanned. The resulting architecture reduces UAV weight and power consumption, while the active redundancy provides robustness against computation unit failures. Moreover, the DMPC guarantees feasible and collision-free trajectories for UAVs with linear dynamics. In simulations, we demonstrate that our method can reliably plan trajectories, while saving 60% of network traffic and required computational power. Hardware-in-the-loop experiments show that it is suitable to control real quadcopter swarms., Comment: Accepted for publication at the IFAC Conference on Networked Systems (NecSys) 2022