A comparative review of direct multiple shooting, direct collocation, and successive linearizations for discretizing nonlinear MPC equations, with performance evaluated via simulations on two test cases.
Generalized nonlinear optimal predictive control using iterative state-space trajectories: Applications to autonomous flight of UAVs
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MPC for nonlinear systems: a comparative review of discretization methods
A comparative review of direct multiple shooting, direct collocation, and successive linearizations for discretizing nonlinear MPC equations, with performance evaluated via simulations on two test cases.