Sensitivity-Aware Model Predictive Control for Robots With Parametric Uncertainty

This article 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 closed-loop state sensitivity and the associated ellipsoidal tubes of p...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 41; pp. 3039 - 3058
Main Authors:	Belvedere, Tommaso, Cognetti, Marco, Oriolo, Giuseppe, Giordano, Paolo Robuffo
Format:	Journal Article
Language:	English
Published:	IEEE 2025
Subjects:	Aerial systems Automatic Computational efficiency Engineering Sciences mechanics and control model predictive control (MPC) Navigation Optimization optimization and optimal control Planning Robot sensing systems Robots robust/adaptive control of robotic systems Robustness Sensitivity Trajectory Uncertainty mechanics and control Aerial systems robust/adaptive control of robotic systems model predictive control (MPC) optimization and optimal control
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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