Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions

  title={Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions},
  author={Ruben Grandia and Andrew J. Taylor and Andrew W. Singletary and Marco Hutter and A. Ames},
The theoretical unification of Nonlinear Model Predictive Control (NMPC) with Control Lyapunov Functions (CLFs) provides a framework for achieving optimal control performance while ensuring stability guarantees. In this paper we present the first real-time realization of a unified NMPC and CLF controller on a robotic system with limited computational resources. These limitations motivate a set of approaches for efficiently incorporating CLF stability constraints into a general NMPC formulation… 

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