Can I read Robust Adaptive MPC for Trajectory Tracking on EtoBox?

Robust Adaptive MPC for Trajectory Tracking by Quoc Phong Pham is a document available to read on EtoBox.

What is Robust Adaptive MPC for Trajectory Tracking about?

This document presents a robust adaptive model predictive controller that enhances trajectory tracking for robots in dynamic environments by integrating a robust model predictive control (MPC) with an L1 adaptive controller. The proposed method ensures high-accuracy tracking even in the presence of unknown disturbances, and preliminary experimental results demonstrate its effectiveness compared to traditional non-adaptive approaches. Key contributions include the elimination of the need for persistent excit

Author

Quoc Phong Pham

Language

EN