Sensitivity-Aware Model Predictive Control for Robots With Parametric Uncertainty
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| Název: | Sensitivity-Aware Model Predictive Control for Robots With Parametric Uncertainty |
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| Autoři: | Tommaso Belvedere, Marco Cognetti, Giuseppe Oriolo, Paolo Robuffo Giordano |
| Přispěvatelé: | Marchand, Eric |
| Zdroj: | IEEE Transactions on Robotics. 41:3039-3058 |
| Informace o vydavateli: | Institute of Electrical and Electronics Engineers (IEEE), 2025. |
| Rok vydání: | 2025 |
| Témata: | [SPI.AUTO] Engineering Sciences [physics]/Automatic, model predictive control (MPC), optimization and optimal control, Aerial systems, Aerial Systems: Mechanics and Control, Model Predictive Control, Optimization and Optimal Control, Robust/Adaptive Control of Robotic Systems, mechanics and control, robust/adaptive control of robotic systems |
| Popis: | This paper introduces a computationally efficient robust Model Predictive Control (MPC) scheme for controlling nonlinear systems affected by parametric uncertainties in their models. The approach leverages the recent notion of closedloop state sensitivity and the associated ellipsoidal tubes of perturbed trajectories for taking into account online time-varying restrictions on state and input constraints. This makes the MPC controller "aware" of potential additional requirements needed to cope with parametric uncertainty, thus significantly improving the tracking performance and success rates during navigation in constrained environments. One key contribution lies in the introduction of a computationally efficient robust MPC formulation with a comparable computational complexity to a standard MPC (i.e., an MPC not explicitly dealing with parametric uncertainty). An extensive simulation campaign is presented to demonstrate the effectiveness of the proposed approach in handling parametric uncertainties and enhancing task performance, safety, and overall robustness. Furthermore, we also provide an experimental validation that shows the feasibility of the approach in real-world conditions and corroborates the statistical findings of the simulation campaign. The versatility and efficiency of the proposed method make it therefore a valuable tool for real-time control of robots subject to non-negligible uncertainty in their models. |
| Druh dokumentu: | Article |
| Popis souboru: | application/pdf |
| ISSN: | 1941-0468 1552-3098 |
| DOI: | 10.1109/tro.2025.3554415 |
| Přístupová URL adresa: | https://hdl.handle.net/11573/1738723 https://doi.org/10.1109/TRO.2025.3554415 |
| Rights: | IEEE Copyright CC BY |
| Přístupové číslo: | edsair.doi.dedup.....f9d8f8d3adb9e0e231d2443fb6b1340b |
| Databáze: | OpenAIRE |
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Nájsť tento článok vo Web of Science | Abstrakt: | This paper introduces a computationally efficient robust Model Predictive Control (MPC) scheme for controlling nonlinear systems affected by parametric uncertainties in their models. The approach leverages the recent notion of closedloop state sensitivity and the associated ellipsoidal tubes of perturbed trajectories for taking into account online time-varying restrictions on state and input constraints. This makes the MPC controller "aware" of potential additional requirements needed to cope with parametric uncertainty, thus significantly improving the tracking performance and success rates during navigation in constrained environments. One key contribution lies in the introduction of a computationally efficient robust MPC formulation with a comparable computational complexity to a standard MPC (i.e., an MPC not explicitly dealing with parametric uncertainty). An extensive simulation campaign is presented to demonstrate the effectiveness of the proposed approach in handling parametric uncertainties and enhancing task performance, safety, and overall robustness. Furthermore, we also provide an experimental validation that shows the feasibility of the approach in real-world conditions and corroborates the statistical findings of the simulation campaign. The versatility and efficiency of the proposed method make it therefore a valuable tool for real-time control of robots subject to non-negligible uncertainty in their models. |
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| ISSN: | 19410468 15523098 |
| DOI: | 10.1109/tro.2025.3554415 |