In collaboration with Payame Noor University and Iranian Society of Instrumentation and Control Engineers
Control and Optimization
Model Predictive Control for a 3D Pendulum on SO(3) Manifold Using Convex Optimization

Sara Mansourinasab; Mahdi Sojoodi; Seyed Reza Moghadasi

Volume 4, Issue 2 , January 2019, , Pages 69-80

https://doi.org/10.30473/coam.2021.50933.1134

Abstract
  Conventional model predictive control (MPC) methods are usually implemented to systems with discrete-time dynamics laying on smooth vector space $ \mathbf{R}^n$‎. ‎In contrast‎, ‎the configuration space of the majority of mechanical systems is not expressed as Euclidean space‎. ‎Therefore‎, ...  Read More