An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control
Sangli Teng,Dianhao Chen,William Clark,Maani Ghaffari,Sangli Teng,Dianhao Chen,William Clark,Maani Ghaffari
This paper reports on a new error-state Model Predictive Control (MPC) approach to connected matrix Lie groups for robot control. The linearized tracking error dynamics and the linearized equations of motion are derived in the Lie algebra. Moreover, given an initial condition, the linearized tracking error dynamics and equations of motion are globally valid and evolve independently of the system t...
