| Autor: |
Neve, Thomas, Lefebvre, Tom, De Witte, Sander, Crevecoeur, Guillaume |
| Rok vydání: |
2023 |
| Předmět: |
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| Druh dokumentu: |
Working Paper |
| Popis: |
This work discusses the use of model predictive control (MPC) for the manipulation of a pusher-slider system. In particular we leverage the differential flatness of the pusher-slider in combination with a B-splines transcription to address the computational demand that is typically associated to real-time implementation of an MPC controller. We demonstrate the flatness based B-spline MPC controller in simulation and compare it to a standard MPC implementation approach using direct multiple shooting. We evaluate the computational advantage of the flatness based MPC empirically and document computational acceleration up to 65%. |
| Databáze: |
arXiv |
| Externí odkaz: |
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