A learning approach to the FOM problem
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Estadístiques de LA Referencia / Recolecta
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/106966
Realitzat a/ambMassachusetts Institute of Technology
Tipus de documentTreball Final de Grau
Data2017-05
Condicions d'accésAccés obert
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continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
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Reconeixement-NoComercial-CompartirIgual 3.0 Espanya
Abstract
Hogan recently provided an heuristic technique called family of modes (FOM) to solve model predictive control (MPC) problems under hybrid constraints and underactuation. The goal of this study is to further develop this new method and to expand its usage in the robotics manipulation community. With that objective in mind, we address some of the method's weaknesses, we provide comparison tools to try to compare the method with traditional MPC solving techniques and we provide a simple and systematic technique to set-up the method's parameters. We conclude the study by presenting our the future lines of research, which consist in generalizing the method for more complex systems and testing it's robustness.
TitulacióGRAU EN MATEMÀTIQUES (Pla 2009)
Col·leccions
Fitxers | Descripció | Mida | Format | Visualitza |
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memoria.pdf | 2,267Mb | Visualitza/Obre |