2 papers
cs.RO2020
An Efficient Real-Time NMPC for Quadrotor Position Control under Communication Time-Delay
Barbara Barros Carlos, Tommaso Sartor, Andrea Zanelli +4
The advances in computer processor technology have enabled the application of nonlinear model predictive control (NMPC) to agile systems, such as quadrotors. These systems are char…
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…