AUTOMATICA
2006
13 years 11 months ago
2006
This note presents a stabilizing decentralized model predictive control (MPC) algorithm for nonlinear discrete time systems. No information is assumed to be exchanged between loca...
AUTOMATICA
2006
13 years 11 months ago
2006
In this paper, Receding Horizon Model Predictive Control (RHMPC) of nonlinear systems subject to input and state constraints is considered. We propose to estimate the terminal reg...
AUTOMATICA
2006
13 years 11 months ago
2006
Industrial implementation of model-based control methods, such as model predictive control, is often complicated by the lack of knowledge about the disturbances entering the syste...
AUTOMATICA
2008
13 years 11 months ago
2008
This paper proposes a disturbance-based control parametrization under the Model Predictive Control framework for constrained linear discrete time systems with bounded additive dis...
AUTOMATICA
2008
13 years 11 months ago
2008
This paper addresses the synthesis approach to output feedback robust model predictive control for systems with polytopic description, bounded state disturbance and measurement no...
AUTOMATICA
2007
13 years 11 months ago
2007
Partial enumeration (PE) is presented as a method for treating large, linear model predictive control applications that are out of reach with available MPC methods. PE uses both a...
AUTOMATICA
2007
13 years 11 months ago
2007
This paper gives two alternative off-line synthesis approaches to robust model predictive control (RMPC) for systems with polytopic description. In each approach, a sequence of ex...
AUTOMATICA
2010
13 years 11 months ago
2010
A recent lifting technique led to a computationally efficient Model Predictive Control (MPC) strategy in which the online optimization is performed using a univariate Newton-Raphs...
ICRA
2007
IEEE
2007
IEEE
Hybrid Model Predictive Control for Stabilization of Wheeled Mobile Robots Subject to Wheel Slippage
14 years 5 months ago
— This paper studies the problem of stabilizing wheeled mobile robots (WMRs) subject to wheel slippage to a predefined set. When slippage of the wheels can occur, WMRs can be mo...
IROS
2008
IEEE
14 years 5 months ago
2008
IEEE
— The problem of safe locomotion of legged and wheeled robots, when trying to avoid falling, tipping over or hitting obstacles, appears to be a problem of viability and not of Ly...