GitHub

MATLAB Simulation and Implementation of an MPC-ISM Controller for a 3 DOF Robot Manipulator

Traditional MPC struggles with complex robotic systems due to complex nonlinear dynamics, modelling uncertainties and computational cost. This solution suggests a heirarchical form of control ...
GitHub

Nonlinear Model-Predictive Control Using Koopman Operator

This document provides a detailed explanation of the MATLAB code that demonstrates the application of the Koopman operator theory for controlling a nonlinear system using Model Predictive Control (MPC ...
マイナビニュース

MPCによる「先読み」が最適な操作の鍵

MPCは、各時刻で未来の応答を予測しながら最適化を行う制御手法だ。オンラインで高速に最適化問題を計算しながらフィードバック制御を行う。入江氏は2008年に「プロのレーサーに勝つための自動運転」の研究開発に取り組んだ際、先読みの重要性を認識し ...
IEEE

Implementation model predictive control (MPC) algorithm-3 for inverted pendulum

Abstract: Model Predictive Control (MPC) is based on the idea to produce control input as a solution to real-time optimization problem. Optimization itself is based on the system model. MPC is used to ...