Publications       Rudy Negenborn
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Fast ADMM for distributed model predictive control of cooperative Waterborne AGVs


"This article proposes a distributed predictive path following controller with arrival time awareness for multiple waterborne AGVs applied to Inter Terminal Transport (ITT). The goal is to design an efficient cooperative distributed algorithm that solves local problems in parallel and minimizes an overall objective. We model the ITT problem using waterborne AGVs with independent dynamics and object..." [More...]

H. Zheng, R.R. Negenborn, G. Lodewijks. Fast ADMM for distributed model predictive control of cooperative Waterborne AGVs. IEEE Transactions on Control Systems Technology, vol. 25, no. 4, pp. 1406-1413, July 2017.   


Fast ADMM for distributed model predictive control of cooperative Waterborne AGVs


"This article proposes a distributed predictive path following controller with arrival time awareness for multiple waterborne AGVs applied to Inter Terminal Transport (ITT). The goal is to design an efficient cooperative distributed algorithm that solves local problems in parallel and minimizes an overall objective. We model the ITT problem using waterborne AGVs with independent dynamics and object..." [More...]

H. Zheng, R.R. Negenborn, G. Lodewijks. Fast ADMM for distributed model predictive control of cooperative Waterborne AGVs. IEEE Transactions on Control Systems Technology, vol. 25, no. 4, pp. 1406-1413, July 2017.   


Life lessons from and for distributed MPC - Part 1: Dynamics of cooperation


"This paper and a second accompanying paper (Olaru et al., 2018) explore the potential of Distributed Predictive Control (DMPC) literature to provide valuable insights into social behaviour. In particular this first paper focuses on the mechanisms of group regulation in social systems. It will be noted that there are major differences between the way in which DMPC algorithms and Social Human Parti..." [More...]

P. McNamara, R.R. Negenborn, J.C. Canizares, M. Farina, J.M. Maestre, S. Olaru, P. Trodden. Life lessons from and for distributed MPC - Part 1: Dynamics of cooperation. In IFAC PapersOnline 51-30 (IFAC TECIS 2018), Baku, Azerbaijan, pp. 101-106, 2018.   


Achieving transport modal split targets at intermodal freight hubs using a model predictive approach


"The increase of international freight commerce is creating pressure on the existing transport network. Cooperation between the different transport parties (e.g., terminal managers, forwarders and transport providers) is required to increase the network throughput using the same infrastructure. The intermodal hubs are locations where cargo is stored and can switch transport modality while approachi..." [More...]

J.L. Nabais, R.R. Negenborn, R. Carmona-Benitez, M.A. Botto. Achieving transport modal split targets at intermodal freight hubs using a model predictive approach. Transportation Research Part C, vol. 60, pp. 278-297, 2015.   


Centralization or decentralization: A comparative analysis of port regulation modes


"This paper studies the comparison of two kinds of port regulation modes - the centralization mode and the decentralization mode - using principal-agent theory and dynamic game theory. The optimal tariffs, port capacities and port efficiency levels under these two regulation modes are determined. The theoretical results are applied to the container terminals in Port of Shanghai in China. Sensitivit..." [More...]

S. Zheng, R.R. Negenborn. Centralization or decentralization: A comparative analysis of port regulation modes. Transportation Research Part E: Logistics and Transportation Review, vol. 69, pp. 21-40, September 2014.   


Supervisory nonlinear MPC for emergency voltage control using pattern search


"The design of a higher-layer controller using model predictive control (MPC) is considered. The higher-layer controller uses MPC to determine set-points for controllers in a lower control layer. In this paper the use of an object-oriented model of the system for making predictions is proposed. When employing such an object-oriented prediction model the MPC problem is a nonlinear, non-smooth optimi..." [More...]

R.R. Negenborn, S. Leirens, B. De Schutter, J. Hellendoorn. Supervisory nonlinear MPC for emergency voltage control using pattern search. Control Engineering Practice, vol. 17, no. 7, pp. 841-848, July 2009.   


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