Constrained Nonlinear Heuristic-Based MPC for Control of Robotic Systems with Uncertainty
This thesis focuses on the development and extension of nonlinear evolutionary model predictive control (NEMPC), a control algorithm previously developed by Phil Hyatt of the BYU RaD Lab. While this controller and its variants are applicable to any high degree-of-freedom (DoF) robotic system, partic...
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| Format: | Others |
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BYU ScholarsArchive
2021
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| Online Access: | https://scholarsarchive.byu.edu/etd/9288 https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=10297&context=etd |