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Optimization-Based Reference Generator for Nonlinear MPC
- Subjects: Robotics
- |
- Contributors:
- Angelo Bratta ,
- Michele Focchi ,
- Niraj Rathod ,
- Claudio Semini
- legged robots
- reference generator
- model predictive controller
- motion and path planning
- optimization and optimal control
Video Introduction
This video is adapted from 10.3390/robotics12010006
Model predictive control (MPC) approaches are widely used in robotics, because they guarantee feasibility and allow the computation of updated trajectories while the robot is moving. They generally require heuristic references for the tracking terms and proper tuning of the parameters of the cost function in order to obtain good performance. For instance, when a legged robot has to react to disturbances from the environment (e.g., to recover after a push) or track a specific goal with statically unstable gaits, the effectiveness of the algorithm can degrade.
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If you have any further questions, please contact Encyclopedia Editorial Office.
Bratta, A.; Focchi, M.; Rathod, N.; Semini, C. Optimization-Based Reference Generator for Nonlinear MPC. Encyclopedia. Available online: https://encyclopedia.pub/video/video_detail/668 (accessed on 17 January 2026).
Bratta A, Focchi M, Rathod N, Semini C. Optimization-Based Reference Generator for Nonlinear MPC. Encyclopedia. Available at: https://encyclopedia.pub/video/video_detail/668. Accessed January 17, 2026.
Bratta, Angelo, Michele Focchi, Niraj Rathod, Claudio Semini. "Optimization-Based Reference Generator for Nonlinear MPC" Encyclopedia, https://encyclopedia.pub/video/video_detail/668 (accessed January 17, 2026).
Bratta, A., Focchi, M., Rathod, N., & Semini, C. (2023, March 28). Optimization-Based Reference Generator for Nonlinear MPC. In Encyclopedia. https://encyclopedia.pub/video/video_detail/668
Bratta, Angelo, et al. "Optimization-Based Reference Generator for Nonlinear MPC." Encyclopedia. Web. 28 March, 2023.
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