ME-6604: Model Predictive Control for Agile Robots

Description: Dynamic optimization and optimal control problems for dynamical systems. Model predictive control (MPC). Formulation of optimal control as optimization problems. Effective numerical tools for optimal solutions. Implementation of MPC for agile robots (legged robots, unmanned aerial vehicles (UAVs), and unmanned ground vehicles (UGVs)). Convex optimization tools for MPC and trajectory optimization. Numerical simulations of robotic systems with MPC algorithms. Analysis of stability and robustness with MPC.

Pathways: N/A

Course Hours: 3 credits

Corequisites: N/A

Crosslist: N/A

Repeatability: N/A