ForecastingUS & West
Adaptive clustering for robust distributed MPC of coupled multi-agent systems
DT.ForecastarXiv — Systems and Control (eess.SY) ↗
Estimation and MPC for balancing a wheel-legged robot under unknown disturbances
The paper combines moving horizon estimation with an offset-free, constrained MPC for sagittal balancing of a 9.95 kg wheel-legged robot. The estimator uses a virtual-leg model augmented with a hip force, a body pitch torque and a gyroscope bias, and process noise is raised when an impact is detected.
Why it matters
It demonstrates state estimation and constrained control under unknown disturbances, a core mechanism that transfers to larger managed systems.
- Original headline
- Moving Horizon Estimation and Constrained Model Predictive Control for Balancing a Wheel-Legged Robot Under Unknown Disturbances
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