Article

do-mpc: Robust Model Predictive Control with Multi-Stage Scenario Trees

Using bridge crane anti-sway as the object, the article derives the composite pendulum dynamics formed by the trolley, a homogeneous suspension rod, and the payload, and presents the construction of a multi-stage scenario tree, non-anticipative input sharing, and an equally weighted expected objective. The authors conducted measurement-intermittent comparative experiments between nominal and robust controllers in the MuJoCo physics engine.

Part of the event: do-mpc Tutorial on Robust Anti-Sway Control for Bridge Cranes Released

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