Constrained Model Predictive Control: Applications to Multi-Vehicle Formation and an Autonomous Blimp

Model predictive control (MFC) is one of the few ways to handle input and output constraints explicitly. Although MFC has been widely applied to chemical process control, the effectiveness for mechanical systems with shorter time constants has not been fully investigated. The goal of this paper is to investigate the applicability of model predictive control to mechanical systems based on experimental examples of multi-vehicle formation and autonomous blimp control

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