A physics-informed sparse identification method builds a control-affine model that is embedded in an adaptive tube MPC scheme with Runge-Kutta discretization, yielding lower computational cost and better tracking than baselines on quadrotors.
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Physics-informed sparse identification-based tube model predictive control for aerial vehicles
A physics-informed sparse identification method builds a control-affine model that is embedded in an adaptive tube MPC scheme with Runge-Kutta discretization, yielding lower computational cost and better tracking than baselines on quadrotors.