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arXiv · 2302.11860

Flatness-based MPC using B-splines transcription with application to a Pusher-Slider System

Thomas Neve·Tom Lefebvre·Sander De Witte·Guillaume Crevecoeur
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Abstract

This work discusses the use of model predictive control (MPC) for the manipulation of a pusher-slider system. In particular we leverage the differential flatness of the pusher-slider in combination with a B-splines transcription to address the computational demand that is typically associated to real-time implementation of an MPC controller. We demonstrate the flatness based B-spline MPC controller in simulation and compare it to a standard MPC implementation approach using direct multiple shooting. We evaluate the computational advantage of the flatness based MPC empirically and document computational acceleration up to 65%.

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Thomas Neve, Tom Lefebvre, Sander De Witte, Guillaume Crevecoeur. 2023-02-23. Flatness-based MPC using B-splines transcription with application to a Pusher-Slider System. https://arxiv.org/abs/2302.11860

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