Convex Model Predictive Control for Vehicular Systems
In this work, the author presents a method called Convex Model Predictive Control (CMPC) to control systems whose states are elements of the rotation matrices SO(n) for n = 2, 3. This is done without charts or any local linearization, and instead is performed by operating over the orbitope of rotati...
Internet
https://thesis.library.caltech.edu/8490/1/Convex%20Model%20Predictive%20Control%20for%20Vehicular%20Systems.pdfHuang, Tiffany Amy (2014) Convex Model Predictive Control for Vehicular Systems. Senior thesis (Major), California Institute of Technology. doi:10.7907/PNN7-SC35. https://resolver.caltech.edu/CaltechTHESIS:06052014-200112345 <https://resolver.caltech.edu/CaltechTHESIS:06052014-200112345>