Real-Time Nonlinear Mixed-Integer Model Predictive Control With Horizon-Tail Relaxations

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.

Predictive control of heating systems via Koopman operators

Zonotope-Based Elastic Tube Model Predictive Control

arXiv:2509.19824v3 Announce Type: replace Abstract: Tube-based Model Predictive Control (MPC) is a widely adopted robust control framework for constrained linear systems under additive disturbance.