IEEE - Institute of Electrical and Electronics Engineers, Inc. - A Method for Reducing the Complexity of Model Predictive Control in Robotics Applications

Author(s): Michael Muehlebach ; Raffaello D'Andrea
Sponsor(s): RAS
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 July 2019
Volume: 4
Page(s): 2,516 - 2,523
ISSN (CD): 2377-3774
ISSN (Electronic): 2377-3766
DOI: 10.1109/LRA.2019.2907411
Regular:

This letter describes an approach for parametrizing input and state trajectories in model predictive control. The parametrization is designed to be invariant to time shifts, which enables... View More

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