Robust Locomotion Exploiting Multiple Balance Strategies: An Observer-Based Cascaded Model Predictive Control Approach

Robust locomotion is a challenging task for humanoid robots, especially when considering dynamic disturbances. This article proposes a disturbance observer-based cascaded model predictive control (MPC) approach for bipedal locomotion, with the capability of exploiting ankle, stepping, hip and height variation strategies. Specifically, based...

Integrated network linear-quadratic model predictive control for disturbance on freeways

We propose an integrated approach for dynamic route guidance and ramp metering using Linear Quadratic Model Predictive Control (LQMPC). The main objective is to maximize the throughput of the network by guiding traffic flow towards to insufficiently utilized infrastructures. Due to the linear property of the LQMPC, it is fast enough for real...