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.
Iterated non-linear model predictive control based on tubes and contractive constraints
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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.