Robust Adaptive MPC for High-Accuracy Trajectory Tracking in Changing Conditions

"This video demonstrates a new approach to achieve high-accuracy trajectory tracking in changing conditions. The approach combines Model Predictive Control (MPC) and L1 Adaptive control. More details in our workshop paper: http://www.dynsyslab.org/wp-content/papercite-data/pdf/pereida-icra19a.pdf Work by Karime Pereida and Angela P. Schoellig, Dynamic Systems Lab at the University of Toronto Institute for Aerospace Studies (UTIAS), Canada.