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eess.SY2019
A Method for Reducing the Complexity of Model Predictive Control in Robotics Applications
Michael Muehlebach, Raffaello D'Andrea
This article describes an approach for parametrizing input and state trajectories in model predictive control. The parametrization is designed to be invariant to time shifts, which…
eess.SY2018
On the Approximation of Constrained Linear Quadratic Regulator Problems and their Application to Model Predictive Control - Supplementary Notes
Michael Muehlebach, Raffaello D'Andrea
By parametrizing input and state trajectories with basis functions different approximations to the constrained linear quadratic regulator problem are obtained. These notes present…