IEEE

On-line Continuous Control Set MPC for PMSM drives current loops at high sampling rate using qpOASES

Abstract: Several Continuous Control Set Model Predictive Control algorithms have been successfully proposed for synchronous motor drive current control applications. The choice of the optimal input ...
IEEE

Single-Instance Sampling for Computationally Efficient and Accurate Real-Time Task Space MPPI Control

Abstract: This study presents a model predictive path integral (MPPI) method capable of conducting high-frequency real-time model predictive control (MPC) for robot manipulators. Real-time MPC-based ...