{"id":"https://openalex.org/W7162400879","doi":"https://doi.org/10.48550/arxiv.2605.24852","title":"T2S-MPC: Time-Embedded Online Adaptive Model Predictive Control for Time-Varying Dynamics","display_name":"T2S-MPC: Time-Embedded Online Adaptive Model Predictive Control for Time-Varying Dynamics","publication_year":2026,"publication_date":"2026-05-24","ids":{"openalex":"https://openalex.org/W7162400879","doi":"https://doi.org/10.48550/arxiv.2605.24852"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.24852","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.24852","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.24852","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137071185","display_name":"Zeyu Shen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shen, Zeyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101633421","display_name":"Zhuoyuan Wang","orcid":"https://orcid.org/0000-0002-1360-6218"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Zhuoyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5075795654","display_name":"Laixi Shi","orcid":"https://orcid.org/0000-0003-4038-8620"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Laixi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.7581999897956848,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.7581999897956848,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.03539999946951866,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.01940000057220459,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6414999961853027},{"id":"https://openalex.org/keywords/online-model","display_name":"Online model","score":0.553600013256073},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.515500009059906},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4876999855041504},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.47119998931884766},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.454800009727478},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.44179999828338623},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4348999857902527},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.41589999198913574}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.763700008392334},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6414999961853027},{"id":"https://openalex.org/C2777851325","wikidata":"https://www.wikidata.org/wiki/Q7094102","display_name":"Online model","level":2,"score":0.553600013256073},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.515500009059906},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4876999855041504},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.47119998931884766},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.454800009727478},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.44179999828338623},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4348999857902527},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.41589999198913574},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.40400001406669617},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38760000467300415},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.38449999690055847},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3781000077724457},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.35280001163482666},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.3361999988555908},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.31220000982284546},{"id":"https://openalex.org/C196921405","wikidata":"https://www.wikidata.org/wiki/Q786431","display_name":"Online algorithm","level":2,"score":0.30219998955726624},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30149999260902405},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2809000015258789},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.27810001373291016},{"id":"https://openalex.org/C126701199","wikidata":"https://www.wikidata.org/wiki/Q264224","display_name":"Complex dynamics","level":2,"score":0.2689000070095062},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2590000033378601},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2540000081062317},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.2508000135421753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.24852","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.24852","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.24852","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.24852","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Recent":[0],"advances":[1],"in":[2,157],"learning-based":[3],"model":[4,14,65,73,86],"predictive":[5],"control":[6,158],"(MPC)":[7],"have":[8],"leveraged":[9],"neural":[10,152],"networks":[11],"for":[12],"online":[13,66,81],"learning,":[15],"achieving":[16],"strong":[17,163],"performance":[18],"when":[19],"nonstationary":[20,109],"system":[21],"dynamics":[22,47,64,110],"deviate":[23],"from":[24],"nominal":[25,72],"models.":[26],"However,":[27],"existing":[28],"approaches":[29],"primarily":[30],"address":[31],"specific":[32],"or":[33],"relatively":[34],"structured":[35,95],"forms":[36],"of":[37,169],"dynamical":[38],"variation,":[39],"leaving":[40],"more":[41],"general,":[42],"unknown,":[43],"and":[44,67,98,129,140,154],"unpredictable":[45],"time-varying":[46,135],"insufficiently":[48],"handled.":[49],"To":[50,83],"tackle":[51],"this":[52],"challenge,":[53],"we":[54,88],"propose":[55],"T2S-MPC,":[56],"a":[57,62,94,100,124,166],"framework":[58,77],"that":[59,146],"adaptively":[60],"learns":[61],"residual":[63],"integrates":[68],"it":[69],"with":[70,115],"the":[71,75,85,105,120],"within":[74],"MPC":[76],"to":[78,107],"enable":[79],"fast-evolving":[80],"planning.":[82],"make":[84],"time-aware,":[87],"explicitly":[89],"encode":[90],"temporal":[91],"information":[92],"through":[93],"time":[96],"embedding":[97],"employ":[99],"two-timescale":[101],"update":[102],"scheme,":[103],"allowing":[104],"controller":[106],"capture":[108],"while":[111,160],"balancing":[112],"rapid":[113],"adaptation":[114],"stable":[116],"learning.":[117],"We":[118],"evaluate":[119],"proposed":[121],"method":[122],"on":[123],"2D":[125],"quadrotor":[126],"across":[127,165],"stabilization":[128],"trajectory":[130],"tracking":[131],"tasks":[132],"under":[133],"diverse":[134],"disturbances,":[136],"including":[137],"linear":[138],"drifting":[139],"periodic":[141],"perturbations.":[142],"Experimental":[143],"results":[144],"show":[145],"T2S-MPC":[147],"consistently":[148],"outperforms":[149],"classical":[150],"MPC,":[151,153],"ablated":[155],"variants":[156],"performance,":[159],"also":[161],"demonstrating":[162],"robustness":[164],"wide":[167],"range":[168],"disturbance":[170],"conditions":[171],"without":[172],"additional":[173],"tuning.":[174],"The":[175],"source":[176],"code":[177],"is":[178],"publicly":[179],"available":[180],"at":[181],"https://github.com/Zeyuu0920/T2S_MPC":[182]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-27T00:00:00"}