Preprint
Nov 2026
Robust Adaptive Lyapunov-Based MPC for Nonlinear Systems with Experimental Validation on Quadcopter Attitude Control
In this paper, a computationally efficient robust adaptive Lyapunov-based model predictive control (RALMPC) framework is proposed for a class of constrained nonlinear systems subject to uncertainties and external disturbances. A radial basis function neural network (RBFNN), introduced to approximate non-parametric unce...
Teo Protoulis, A. Alexandridis
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