A Lie-group version of MPSP reformulates discrete-time optimal control on manifolds as a sequence of static quadratic programs admitting closed-form solutions.
Tracking for fully actuated mechanical systems: a geometric framework
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A fully discrete strain-based model for continuum robot dynamics via Lie group variational integrators, combined with an EKF-based observer for states and disturbances, validated on hardware.
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Model Predictive Static Programming for Discrete-Time Optimal Control on Lie Groups
A Lie-group version of MPSP reformulates discrete-time optimal control on manifolds as a sequence of static quadratic programs admitting closed-form solutions.
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Discrete Geometric Modeling and Extended State Estimation of Continuum Robots
A fully discrete strain-based model for continuum robot dynamics via Lie group variational integrators, combined with an EKF-based observer for states and disturbances, validated on hardware.