Abstract: This paper proposes a control framework based on Additive State Decomposition (ASD) and Model Predictive Control (MPC) for nonlinear systems with input saturation. ASD is used to divide the ...
This repository contains a Simscape model of a quadrupeded robot able to walk on flat and inclined terrain, with a environment that presents different obstacles, and the posibility of open-loop or ...
Abstract: Increasingly, for many application areas, it is becoming important to include elements of nonlinearity and non-Gaussianity in order to model accurately the underlying dynamics of a physical ...
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