Smooth Computation without Input Delay: Robust Tube-Based Model Predictive Control for Robot Manipulator Planning
Yu Luo,Qie Sima,Tianying Ji,Fuchun Sun,Huaping Liu,Jianwei Zhang,Yu Luo,Qie Sima,Tianying Ji,Fuchun Sun,Huaping Liu,Jianwei Zhang
Model Predictive Control (MPC) has exhibited remarkable capabilities in optimizing objectives and meeting constraints. However, the substantial computational burden associated with solving the Optimal Control Problem (OCP) at each triggering instant introduces significant delays between state sampling and control application. These delays limit the practicality of MPC in resource-constrained syste...
