In this episode I sit down with Dr Ying Shuai Quan and getexcited about her work on adaptive cruise control and lane-keeping systems, with particular focus on applying model predictive control. Features deep-dives into various aspects of MPC, with occasional offshoots into other cool areas of control!

You can find the transcript for this episode at: https://docs.google.com/document/d/1ufp57VuzymcEivN3lzMaHVKgH8LgqI9BZDzgmdz2pug/edit?usp=sharing

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References/ cool papers to learn more

Ying’s thesis: https://repository.hanyang.ac.kr/handle/20.500.11754/188296

Tube-based adaptive cruise control paper: https://ieeexplore.ieee.org/document/9992382

Motion sickness patents: (general system) https://patents.google.com/patent/US20250115255A1/en

(control and estimation) https://patents.google.com/patent/US20250128715A1/en

Tutorial on IQCs: https://www.scopus.com/pages/publications/84979771505

Classic LMI book: https://web.stanford.edu/~boyd/lmibook/lmibook.pdf

LMIs in control book chapter: https://link.springer.com/chapter/10.1007/978-1-84800-025-4_4

Steve Brunton MPC video: https://www.youtube.com/watch?v=YwodGM2eoy4&t=1s

Great review/ tutorial paper on MPC: https://link.springer.com/article/10.1007/s00170-021-07682-3

Review on linear fractional transformations: https://ieeexplore.ieee.org/document/261572

Ying’s control-barrier functions paper: https://ieeexplore.ieee.org/document/10130631

Tutorial paper on CBFs: https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=10836828

Review on control barrier functions: https://ieeexplore.ieee.org/abstract/document/10836828

Using CBFs in MPC: https://arxiv.org/abs/2502.08400

Control Lyapunov-barrier function-based MPC: https://ieeexplore.ieee.org/document/8431468

High-order CBFs: https://ieeexplore.ieee.org/document/9516971

Neural network lane-keeping paper: https://ieeexplore.ieee.org/document/8859955

Robust stability of NN-based LKS: https://ieeexplore.ieee.org/abstract/document/10644841

Matt Turner episode: https://open.spotify.com/episode/5KLLOvbCjOkL0v8iXo84vt

Transcript: https://docs.google.com/document/d/1r41Lcpv4MtxnqfMn8ZFfnAqiK5rlfcPZ19NQhfeqaFI/edit?usp=sharing

Multiple model switched adaptive control: https://eprints.soton.ac.uk/72334/

Examples of systems with unknown input delays:

(Connected platoons) https://ieeexplore-ieee-org/document/9530266

(Glucose control in diabetes) https://www.scopus.com/pages/publications/85192198866

(Spacecraft control) https://www.scopus.com/pages/publications/84947032651

Min-max MPC for non-linear systems: https://www.sciencedirect.com/science/article/pii/S0947358009707034

PCA: https://www.geeksforgeeks.org/data-analysis/principal-component-analysis-pca/

LPV gain-scheduling control with parameter reduction: https://ieeexplore.ieee.org/document/9830128

Safe MPC using constraint softening: https://arxiv.org/abs/2503.15373

Application to autonomous driving: https://arxiv.org/abs/2505.05933

Robust and Stochastic MPC: https://www.sciencedirect.com/science/article/pii/S1367578816300098

Stochastic MPC review: https://ieeexplore.ieee.org/document/7740982Polynomial chaos in non-linear stochastic MPC: https://ieeexplore.ieee.org/document/6858851

Polynomial chaos overview: https://ieeexplore.ieee.org/document/6595094

Melanie Zeilinger: https://idsc.ethz.ch/the-institute/people/person-detail.html?persid=142737

Safe learning-based control talk: https://www.youtube.com/watch?v=cBK1CNuU66c&t=572s

Control meets learning seminar series: https://sites.google.com/view/control-meets-learning/home