Sampling-based MPC unified as a single sequential Monte Carlo algorithm

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

arXiv:2611.09187v1 Announce Type: cross Abstract: Model predictive control (MPC) of nonlinear systems with discrete decisions leads to mixed-integer nonlinear programs (MINLPs) whose combinatorial complexity often prevents real-time deployment.

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