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Collective Tube MPC With Distribution-Free Joint Safety Certificates
US & West ·
The paper develops collective tube MPC, where the calibrated uncertainty object is the entire finite-horizon prediction-error trajectory rather than separate events combined by a union bound. A reusable trajectory tube is calibrated offline, its cross-sections define online Pontryagin tightenings, and the certified violation event is a fresh prediction-error trajectory leaving the tube.
Why it matters
The approach aligns safety certificates with the recursive-feasibility logic of tube MPC, which matters for reliable control of constrained systems.
arXiv:2602.01164v2 Announce Type: replace-cross Abstract: We propose a computationally tractable, tube-based robust nonlinear model predictive control (MPC) framework using difference-of-convex (DC) functions and sequential convex programming.
arXiv:2609.38552v1 Announce Type: cross Abstract: Public institutions increasingly procure AI systems whose design they cannot inspect or change. In higher education, proprietary Early Warning Systems (EWS) leave colleges with few options beyond adjusting model outputs to address inequity.
arXiv:2609.29100v2 Announce Type: replace Abstract: This paper investigates model predictive control (MPC) for switched systems subject to control and state constraints. A variable-horizon switched MPC approach is proposed.
