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

- Source: Guyuehome
- Published: 2026-11-02T11:16:00.000Z
- RoboHot: https://robohot.news/en/items/hltvnaub3t009h7gpgm25wyni
- Original: https://www.guyuehome.com/detail?id=2109526107993698306

## Summary

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.