A multi-timescale MPC for slow-fast systems switches to reduced slow-dynamics models and uses exponentially increasing integration step sizes to deliver up to 10x speed-ups in robotic control simulations.
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Multi-Timescale Model Predictive Control for Slow-Fast Systems
A multi-timescale MPC for slow-fast systems switches to reduced slow-dynamics models and uses exponentially increasing integration step sizes to deliver up to 10x speed-ups in robotic control simulations.