Sub-optimal mpc with dynamic constraint tightening
Limited computation resources forces early (sub-optimal) termination of the solvers used for
model predictive controllers (MPCs). This can compromise the feasibility and stability …
model predictive controllers (MPCs). This can compromise the feasibility and stability …
[HTML][HTML] Human-Inspired Gait and Jumping Motion Generation for Bipedal Robots Using Model Predictive Control
Z Xu, J Xie, K Hashimoto - Biomimetics, 2025 - mdpi.com
In recent years, humanoid robot technology has been developing rapidly due to the need for
robots to collaborate with humans or replace them in various tasks, requiring them to …
robots to collaborate with humans or replace them in various tasks, requiring them to …
Real-Time Deep-Learning-Driven Parallel MPC
R Kohút, E Pavlovičová, K Fedorová… - 2023 62nd IEEE …, 2023 - ieeexplore.ieee.org
A novel real-time approximated MPC control policy based on deep learning is proposed to
address the high computational burden of model predictive control (MPC) for large-scale …
address the high computational burden of model predictive control (MPC) for large-scale …
Real-time Model Predictive Contouring Control via Block Successive Convex Approximation
H Zhang, B Lan, L Shi - IFAC-PapersOnLine, 2024 - Elsevier
The real-time implementation of model predictive control (MPC) in robotics field is known to
be challenging due to the inherent non-convex and nonlinear dynamics involved, as well as …
be challenging due to the inherent non-convex and nonlinear dynamics involved, as well as …