Zobrazeno 1 - 10
of 196 532
pro vyhledávání: '"NONLINEAR MODEL"'
Autor:
Huang, Tzu-Yuan, Lederer, Armin, Hoischen, Nicolas, Brüdigam, Jan, Xiao, Xuehua, Sosnowski, Stefan, Hirche, Sandra
Achieving global optimality in nonlinear model predictive control (NMPC) is challenging due to the non-convex nature of the underlying optimization problem. Since commonly employed local optimization techniques depend on carefully chosen initial gues
Externí odkaz:
http://arxiv.org/abs/2412.08278
Model predictive control has gained popularity for its ability to satisfy constraints and guarantee robustness for certain classes of systems. However, for systems whose dynamics are characterized by a high state dimension, substantial nonlinearities
Externí odkaz:
http://arxiv.org/abs/2411.15929
Autor:
Ma, Dexian, Zhou, Bo
Automating complex industrial robots requires precise nonlinear control and efficient energy management. This paper introduces a data-driven nonlinear model predictive control (NMPC) framework to optimize control under multiple objectives. To enhance
Externí odkaz:
http://arxiv.org/abs/2411.13859
Quadrotors equipped with cable-suspended loads represent a versatile, low-cost, and energy efficient solution for aerial transportation, construction, and manipulation tasks. However, their real-world deployment is hindered by several challenges. The
Externí odkaz:
http://arxiv.org/abs/2411.11982
Autor:
Sombolestan, Mohsen, Nguyen, Quan
As legged robots take on roles in industrial and autonomous construction, collaborative loco-manipulation is crucial for handling large and heavy objects that exceed the capabilities of a single robot. However, ensuring the safety of these multi-robo
Externí odkaz:
http://arxiv.org/abs/2411.10699
Accurate trajectory tracking is an essential characteristic for the safe navigation of a quadrotor in cluttered or disturbed environments. In this paper, we present in detail two state-of-the-art model-based control frameworks for trajectory tracking
Externí odkaz:
http://arxiv.org/abs/2411.06707