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eess.SY2019
Learning Model Predictive Control for Periodic Repetitive Tasks
Nicola Scianca, Ugo Rosolia, Francesco Borrelli
We propose a reference-free learning model predictive controller for periodic repetitive tasks. We consider a problem in which dynamics, constraints and stage cost are periodically…
eess.SY2019
Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances
Filippo M. Smaldone, Nicola Scianca, Valerio Modugno +2
Maintaining balance while walking is not a simple task for a humanoid robot because of its complex dynamics. The presence of a persistent disturbance makes this task even more chal…