3 papers
math.OC2026
MPC: A Parallel-in-horizon and Construction-free NMPC Solver
Liang Wu, Bo Yang, Junheng Li +5
The alternating direction method of multipliers (ADMM) has gained increasing popularity in embedded model predictive control (MPC) due to its code simplicity and pain-free paramete…
eess.SY2026
Time-Certified and Efficient NMPC via Koopman Operator
Liang Wu, Yunhong Che, Bo Yang +2
Certifying and accelerating execution times of nonlinear model predictive control (NMPC) implementations are two core requirements. Execution-time certificate guarantees that the N…
eess.SY2025
A Predictive and Sampled-Data Barrier Method for Safe and Efficient Quadrotor Control
Ming Gao, Zhanglin Shangguan, Shuo Liu +3
This paper proposes a cascaded control framework for quadrotor trajectory tracking with formal safety guarantees. First, we design a controller consisting of an outer-loop position…