5 papers
Improving path-tracking performance of an articulated tractor-trailer system using a non-linear kinematic model
Marina Murillo, Guido Sanchez, Nestor Deniz +2
This paper presents a novel non-linear mathematical model of an articulated tractor-trailer system that can be used, in combination with receding horizon techniques, to improve the…
MPC for nonlinear systems: a comparative review of discretization methods
Guido Sanchez, Marina Murillo, Lucas Genzelis +2
This work provides a comparative review of three different numerical methods generally used to discretize continuous-time non-linear equations appearing in model predictive control…
Adaptive arrival cost update for improving Moving Horizon Estimation performance
Guido Sanchez, Marina Murillo, Leonardo Giovanini
Moving horizon estimation is an efficient technique to estimate states and parameters of constrained dynamical systems. It relies on the solution of a finite horizon optimization p…
A Receding Horizon Framework for Autonomy in Unmanned Vehicles
Marina Murillo, Guido Sánchez, Lucas Genzelis +2
In this article we present a unified framework based on receding horizon techniques that can be used to design the three tasks (guidance, navigation and path-planning) which are in…
Adaptive polytopic estimation for nonlinear systems under bounded disturbances using moving horizon
Nestor N. Deniz, Marina H. Murillo, Guido Sanchez +1
This paper introduces an adaptive polytopic estimator design for nonlinear systems under bounded disturbances combining moving horizon and dual estimation techniques. It extends th…