The impact-aware MPC reduces post-impact deflection by 86.2% in experiments by predicting discontinuous velocities with an embedded restitution model.
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Learns regionally stable RNN models from input-output data by deriving LMI constraints from generalized sector conditions on deadzone activations and a barrier function to certify forward invariance on a compact set.
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Impact-Aware Model Predictive Control for UAV Landing on a Heaving Platform
The impact-aware MPC reduces post-impact deflection by 86.2% in experiments by predicting discontinuous velocities with an embedded restitution model.
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Learning the dynamics of nonlinear systems with regional stability guarantees through linear matrix inequality constraints
Learns regionally stable RNN models from input-output data by deriving LMI constraints from generalized sector conditions on deadzone activations and a barrier function to certify forward invariance on a compact set.