48 citations · 96 across the 3 of their papers we have counts for
3 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…