For a quadrupedal robot, adding explicit estimation and compensation of periodic external forces to an MPC loop reduces velocity-tracking error in simulation, compared to static compensation.
Control lyapunov functions for adaptive nonlinear stabilization,
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Adaptive MPC-based quadrupedal robot control under periodic disturbances
For a quadrupedal robot, adding explicit estimation and compensation of periodic external forces to an MPC loop reduces velocity-tracking error in simulation, compared to static compensation.