2 papers
cs.RO2026
Iterative Tuning of Nonlinear Model Predictive Control for Robotic Manufacturing Tasks
Deepak Ingole, Valentin Bhend, Shiva Ganesh Murali +2
Manufacturing processes are often perturbed by drifts in the environment and wear in the system, requiring control re-tuning even in the presence of repetitive operations. This pap…
cs.RO2025
Bayesian Optimization for Automatic Tuning of Torque-Level Nonlinear Model Predictive Control
Gabriele Fadini, Deepak Ingole, Tong Duy Son +1
This paper presents an auto-tuning framework for torque-based Nonlinear Model Predictive Control (nMPC), where the MPC serves as a real-time controller for optimal joint torque com…