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An MPC Formulation on $SO(3)$ for a Quadrotor With Bidirectional Thrust and Nonlinear Thrust Constraints.
Jad Wehbeh
Inna Sharf
Published in:
IEEE Robotics Autom. Lett. (2022)
Keyphrases
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closed loop
mixed integer
linear quadratic
feedback control
constraint programming
control system
optimal control
constrained optimization
global constraints
lagrange multipliers
parameter identification
stochastic dynamic programming